Loop closure detection on a suburban road network using a continuous appearance-based trajectory

Maddern, William, Milford, Michael, & Wyeth, Gordon (2010) Loop closure detection on a suburban road network using a continuous appearance-based trajectory. In Wyeth, Gordon & Upcroft, Ben (Eds.) Proceedings of the 2010 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Brisbane, Qld, pp. 1-10.

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This paper presents a novel technique for performing SLAM along a continuous trajectory of appearance. Derived from components of FastSLAM and FAB-MAP, the new system dubbed Continuous Appearance-based Trajectory SLAM (CAT-SLAM) augments appearancebased place recognition with particle-filter based ‘pose filtering’ within a probabilistic framework, without calculating global feature geometry or performing 3D map construction. For loop closure detection CAT-SLAM updates in constant time regardless of map size. We evaluate the effectiveness of CAT-SLAM on a 16km outdoor road network and determine its loop closure performance relative to FAB-MAP. CAT-SLAM recognizes 3 times the number of loop closures for the case where no false positives occur, demonstrating its potential use for robust loop closure detection in large environments.

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ID Code: 48033
Item Type: Conference Paper
Refereed: Yes
Keywords: Robotics, Computer vision
ISBN: 9780980740417
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 please consult the authors
Deposited On: 12 Jan 2012 23:47
Last Modified: 09 Dec 2015 15:57

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