SegMatch：3D点群のためのセグメントベースのループ閉じ込み
SegMatch: Segment based loop-closure for 3D point clouds
3D点群をセグメント単位でマッチングすることで、大規模で非構造な環境でも頑健にループ閉じ込みを検出する手法を提案し、KITTIデータセットで1Hzの高精度測位とリアルタイム動作を示した。
著者: Renaud Dubé, Daniel Dugas, Elena Stumm, Juan Nieto, Roland Siegwart, Cesar Cadena
分類: cs.RO
原文アブストラクト
Loop-closure detection on 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity and from robustness to environment changes while methods based on global features are viewpoint dependent. We propose SegMatch, a reliable loop-closure detection algorithm based on the matching of 3D segments. Segments provide a good compromise between local and global descriptions, incorporating their strengths while reducing their individual drawbacks. SegMatch does not rely on assumptions of "perfect segmentation", or on the existence of "objects" in the environment, which allows for reliable execution on large scale, unstructured environments. We quantitatively demonstrate that SegMatch can achieve accurate localization at a frequency of 1Hz on the largest sequence of the KITTI odometry dataset. We furthermore show how this algorithm can reliably detect and close loops in real-time, during online operation. In addition, the source code for the SegMatch algorithm will be made available after publication.
