Vision-based loop closing for delayed state robot mapping

— This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information Filter are consistent enough to guarantee assertion of visionbased pose constraints for loop closure, provided no necessary information links are added to the estimator. The technique computes relative pose constraints via a robust least squares minimization of 3D point correspondences, which are in turn obtained from the matching of SIFT features over candidate image pairs. We propose a loop closure test that checks both for closeness of means and for highly informative updates at the same time.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Viorela Ila, Juan Andrade-Cetto, Rafael Valencia, Alberto Sanfeliu
• Keywords: IROS 2007, Loop Closure, Pose Constraints, Robotics, Visionbased Pose Constraints