NDLI: Efficient trajectory bending with applications to loop closure

Content Provider	IEEE Xplore Digital Library
Author	Dubbelman, G. Esteban, I. Schutte, K.
Copyright Year	2010
Description	Author affiliation: Electro-Optical Systems, TNO Defence, Security and Safety, Oude Waalsdorperweg 63, 2509 JG The Hague, The Netherlands (Dubbelman, G.; Esteban, I.; Schutte, K.)
Abstract	In robotic applications the absolute pose is often obtained as the integral of successive relative rigid-body motions. As each relative rigid-body motion is typically the product of statistical inference, the integrated absolute pose will exhibit error build-up and the estimated trajectory will differ from the true trajectory undertaken by the system. Some application areas allow the system to receive additional information about its current absolute pose, for example from loop detection, which is more accurate than the integral of the relative rigid-body motions. The availability of this absolute information is usually less frequent than the information underlying the relative rigid-body motions. This contribution addresses an efficient closed form algorithm which minimally bends a trajectory such that the integrated pose is exactly equal to any particular desired pose. The manner in which the bending is distributed over the trajectory is controllable using weights. The proposed method will be compared against a maximum likelihood solution on simulated trajectories as well as on trajectories estimated from binocular and monocular data. The results indicate that the performance differences between the closed form approach and the maximum likelihood solution are negligible while the closed form approach is significantly more efficient.
Starting Page	4836
Ending Page	4842
File Size	2002112
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652656
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Uncertainty Noise Approximation algorithms Optimization Simultaneous localization and mapping Maximum likelihood estimation visual reconstruction loop closure visual odometry
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Visual loop-closing with image profiles

Real-Time Lidar Odometry and Mapping with Loop Closure

Maximum likelihood combining of stochastic maps

DV-LOAM: Direct Visual LiDAR Odometry and Mapping

Combining odometry and visual loopclosure detection for consistent topo-metrical mapping (2010)

Online SLAM with any-time self-calibration and automatic change detection

Underwater visual SLAM with loop-closure using image-to-image link recovery

An optimization solution to simultaneous localization and map building

Robust graph SLAM in dynamic environments with moving landmarks

Efficient trajectory bending with applications to loop closure

Similar Documents

Visual loop-closing with image profiles

Real-Time Lidar Odometry and Mapping with Loop Closure

Maximum likelihood combining of stochastic maps

DV-LOAM: Direct Visual LiDAR Odometry and Mapping

Combining odometry and visual loopclosure detection for consistent topo-metrical mapping (2010)

Online SLAM with any-time self-calibration and automatic change detection

Underwater visual SLAM with loop-closure using image-to-image link recovery

An optimization solution to simultaneous localization and map building

Robust graph SLAM in dynamic environments with moving landmarks

Efficient trajectory bending with applications to loop closure