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Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments
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)
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2016
卷号13页码:1-11
收录类别SCI ; EI
EI收录号20165003120185
WOS记录号WOS:000374338300001
产权排序3
资助机构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标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]FAB-MAP ; APPEARANCE ; SLAM
WOS研究方向Robotics
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18637
专题机器人学研究室
通讯作者Zhuang Y(庄严)
作者单位1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.Information Science and Technology College, Dalian Maritime University, Dalian, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
4.Department of Electrical Engineering, City College, City University of New York, United States
推荐引用方式
GB/T 7714
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.
APA Wang, Anqing,Li, Chi,Liu, Yisha,Zhuang Y,Bu CG,&Xiao JZ.(2016).Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,1-11.
MLA Wang, Anqing,et al."Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):1-11.
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