Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments

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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
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN	1729-8806
	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]
关键词	Loop-closure Detection 3-d Laser Point Cloud Unmanned Aerial Vehicles (Uavs)
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
引用统计
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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