Authors: Adrien Angeli, Stephane Doncieux, Jean-Arcady Meyer, and David Filliat
Abstract:
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.
Link:
IROS2008 Paper
http://www.ensta.fr/~filliat/
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