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Research on Loop Closing for SLAM Based on RGB-D Images

  • Hongwei Mo
  • Kai Wang
  • Haoran Wang
  • Weihao Ding
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)

Abstract

This paper mainly studies a loop closing detection method based on visual SLAM. We used RGB-D image as data source. The main idea is to construct a word bag based on DBoW3. Using rBRIEF makes it possible to perform feature extraction after the image is rotated. And added the elimination of mis-match links to improve the accuracy of detection. In order to ensure the reliability of the loop closing test results, the matching image is also verified. RGB-D image is rich in information and can synchronously extract the depth and color information of the main objects in the scene. The depth information directly reflects the distance information of each object in the scene.

Keywords

SLAM Loop closing RGB-D DBoW3 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Hongwei Mo
    • 1
  • Kai Wang
    • 1
  • Haoran Wang
    • 1
  • Weihao Ding
    • 1
  1. 1.School of AutomationHarbin Engineering UniversityHarbinChina

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