NDLI: Application of Locality Sensitive Hashing to realtime loop closure detection

Content Provider	IEEE Xplore Digital Library
Author	Shahbazi, Hossein Zhang, Hong
Copyright Year	2011
Description	Author affiliation: Department of Computing Science, University of Alberta, Canada (Shahbazi, Hossein; Zhang, Hong)
Abstract	In this work we present a new approach for detecting loop closures in a real-time online setting. The Loop Closure Detection problem is important in visual SLAM applications and different approaches exist to deal with this problem. Most of these approaches are based on the Bag-of-Words approach, and assume a fixed visual vocabulary can work in different types of environments. However BOW is known to introduce perceptual aliasing. By using Locality Sensitive Hashing (LSH) we are able to compute image similarity and detect loop closures by using visual features directly without vector quantization as in BOW and also LSH does not require a prior visual vocabulary. We show the effectiveness of our approach empirically by comparing it to the Bag of Words (BOW) approach which is the dominant method of selecting candidate loop closing images. Our method is fast enough for realtime applications and its accuracy is significantly better than the BOW approach.
Starting Page	1228
Ending Page	1233
File Size	339548
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095099
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Vectors Robots Vocabulary Accuracy Feature extraction Clustering algorithms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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