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题名: Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments
作者: Wang, Anqing; Li, Chi; Liu, Yisha; Zhuang Y(庄严); Bu CG(卜春光); Xiao JZ(肖继忠)
作者部门: 机器人学研究室
关键词: Loop-closure Detection ; 3-D Laser Point Cloud ; Unmanned Aerial Vehicles (UAVs)
刊名: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN号: 1729-8806
出版日期: 2016
卷号: 13, 页码:1-11
收录类别: SCI
产权排序: 3
项目资助者: National Natural Science Foundation of China [61305128, 61375088] ; State Key Laboratory of Robotics [2013-O07]
摘要: Online loop-closure detection serves as an essential task for Unmanned Aerial Vehicles (UAVs) equipped with laser scanners. Due to the inherent errors in UAVs' pose estimation, a 3-D reconstruction algorithm is adopted to perform 3-D map building, which establishes probabilistic models of the system according to the assumption of errors. To meet the demand of online loop-closure detection using sequential 2-D laser data, a robust ISW-NDT (incremental sliding-window-based NDT) approach is proposed, which compares the appearance similarity between two scans by sliding a window with fixed size. Compared with the conventional 3-D NDT approach, the proposed loop-closure detection algorithm is capable of providing superior performance in large-scale outdoor environments, achieving higher recall rate at 100% precision and ensuring successful online implementation. Experimental results show the validity and robustness of the proposed method.
语种: 英语
WOS记录号: WOS:000374338300001
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: FAB-MAP ; APPEARANCE ; SLAM
研究领域[WOS]: Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18637
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Wang, Anqing,Li, Chi,Liu, Yisha,et al. Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:1-11.
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文件名: Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments.pdf
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