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Appearance-based loop detection from 3D laser data using the normal distributions transform
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-2953-1564
Jacobs University Bremen, Bremen, Germany.
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-0217-9326
2009 (English)In: IEEE International Conference on Robotics and Automation 2009 (ICRA '09), IEEE conference proceedings, 2009, p. 23-28Conference paper, Published paper (Other academic)
Abstract [en]

We propose a new approach to appearance based loop detection from metric 3D maps, exploiting the NDT surface representation. Locations are described with feature histograms based on surface orientation and smoothness, and loop closure can be detected by matching feature histograms. We also present a quantitative performance evaluation using two realworld data sets, showing that the proposed method works well in different environments.© 2009 IEEE.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. p. 23-28
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-14250DOI: 10.1109/ROBOT.2009.5152712ISI: 000276080401228Scopus ID: 2-s2.0-70350349701ISBN: 9781424427888 (print)ISBN: 9781424427895 (electronic)OAI: oai:DiVA.org:oru-14250DiVA: diva2:391763
Conference
IEEE International Conference on Robotics and Automation, 2009 (ICRA '09), Kobe, Japan, May 12-17, 2009
Note

Funding Agency:

Atlas Copco Rock Drills 

Available from: 2011-01-25 Created: 2011-01-25 Last updated: 2018-01-12Bibliographically approved

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Magnusson, MartinAndreasson, HenrikLilienthal, Achim J.

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  • apa
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  • de-DE
  • en-GB
  • en-US
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  • nn-NB
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