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International Conference on Analysis of Images, Social Networks and Texts

AIST 2017: Analysis of Images, Social Networks and Texts pp 210–220Cite as

Original Loop-Closure Detection Algorithm for Monocular vSLAM

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 10716))

Abstract

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure detection, which is suitable for dense, semi-dense and feature-based vSLAM methods. We evaluate the algorithm experimentally and show that it contribute to more accurate mapping while speeding up the monocular vSLAM pipeline to the extent the latter can be used in real-time for controlling small multi-rotor vehicle (drone).

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Notes

  1. 1.

    http://vision.in.tum.de/research/vslam/lsdslam.

  2. 2.

    http://www.cvlibs.net/datasets/kitti/eval_odometry.php.

  3. 3.

    http://www.mrpt.org/MalagaUrbanDataset.

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Acknowledgment

This research was supported by Russian Foundation for Basic Research. Grant 15-07-07483.

Author information

Authors and Affiliations

  1. Peoples’ Friendship University of Russia (RUDN University), Moscow, Russia

    Andrey Bokovoy

  2. Higher School of Economics, Moscow, Russia

    Konstantin Yakovlev

  3. Institute for Systems Analysis of Federal Research Centre “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russia

    Andrey Bokovoy & Konstantin Yakovlev

Authors
  1. Andrey Bokovoy
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  2. Konstantin Yakovlev
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Corresponding author

Correspondence to Andrey Bokovoy .

Editor information

Editors and Affiliations

  1. Eindhoven University of Technology, Eindhoven, The Netherlands

    Wil M.P. van der Aalst

  2. National Research University Higher School of Economics, Moscow, Russia

    Dmitry I. Ignatov

  3. Krasovsky Institute of Mathematics and Mechanics, Ekaterinburg, Russia

    Michael Khachay

  4. National Research University Higher School of Economics, Moscow, Russia

    Sergei O. Kuznetsov

  5. Skolkovo Institute of Science and Technology, Moscow, Russia

    Victor Lempitsky

  6. National Research University Higher School of Economics, Moscow, Russia

    Irina A. Lomazova

  7. Moscow State University, Moscow, Russia

    Natalia Loukachevitch

  8. LORIA, Campus Scientifique, Vandœuvre lès Nancy, France

    Amedeo Napoli

  9. University of Hamburg, Hamburg, Germany

    Alexander Panchenko

  10. University of Florida, Gainesville, Florida, USA

    Panos M. Pardalos

  11. National Research University Higher School of Economics, Nizhny Novgorod, Russia

    Andrey V. Savchenko

  12. Indiana University, Bloomington, Indiana, USA

    Stanley Wasserman

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Bokovoy, A., Yakovlev, K. (2018). Original Loop-Closure Detection Algorithm for Monocular vSLAM. In: van der Aalst, W., et al. Analysis of Images, Social Networks and Texts. AIST 2017. Lecture Notes in Computer Science(), vol 10716. Springer, Cham. https://doi.org/10.1007/978-3-319-73013-4_19

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  • DOI: https://doi.org/10.1007/978-3-319-73013-4_19

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  • Online ISBN: 978-3-319-73013-4

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