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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)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2016
Volume13Pages:1-11
Indexed BySCI ; EI
EI Accession number20165003120185
WOS IDWOS:000374338300001
Contribution Rank3
Funding OrganizationNational Natural Science Foundation of China [61305128, 61375088] ; State Key Laboratory of Robotics [2013-O07]
KeywordLoop-closure Detection 3-d Laser Point Cloud Unmanned Aerial Vehicles (Uavs)
AbstractOnline 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordFAB-MAP ; APPEARANCE ; SLAM
WOS Research AreaRobotics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18637
Collection机器人学研究室
Corresponding AuthorZhuang Y(庄严)
Affiliation1.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
Recommended Citation
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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