Jiang, J., Wang, J., Wang, P. orcid.org/0000-0001-9895-394X et al. (2 more authors) (2020) LiPMatch : LiDAR point cloud plane based loop-closure. IEEE Robotics and Automation Letters, 5 (4). pp. 6861-6868.
Abstract
This letter presents a point cloud based loop-closure method to correct long-term drifts in Light Detection and Ranging based Simultaneous Localization and Mapping systems. In the method, we formulate each keyframe as a fully-connected graph with nodes representing planes. To detect loop-closures, the proposed method employs geometric restrictions to define a similarity metric to match current keyframe and those in the map. After similarity assessment, the candidate keyframes which comply with the geometric restrictions are further checked out successively by normal constraints of planes, and validated by an improved Iterative Closest Point method. The latter also provides relative pose transformation estimation between the current keyframe and the matched keyframe in the global reference frame. Experimental results demonstrate that the proposed method is able to fulfill fast and reliable loop-closure. To benefit the community by serving a benchmark for loop-closure, the entire system is made open source on GitHub.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Localization; mapping; range sensing; slam |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 08 Oct 2020 06:36 |
Last Modified: | 02 Sep 2021 00:38 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/lra.2020.3021374 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:166442 |