Incremental vision-based topological SLAM

— In robotics, appearance-based topological map building consists in infering the topology of the environment explored by a robot from its sensor measurements. In this paper, we propose a vision-based framework that considers this data association problem from a loop-closure detection perspective in order to correctly assign each measurement to its location. Our approach relies on the visual bag of words paradigm to represent the images and on a discrete Bayes filter to compute the probability of loop-closure. We demonstrate the efficiency of our solution by incremental and real-time consistent map building in an indoor environment and under strong perceptual aliasing conditions using a single monocular wide-angle camera.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Adrien Angeli, Stéphane Doncieux, Jean-Arcady Meyer, David Filliat
• Keywords: IROS 2008, Map Building, Monocular Wide-angle Camera, Robotics, Topological Map Building