バイナリコンテンツによる高速ループ閉じ込み検出

原文アブストラクト

Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem, existing methods often leverage on the matching of visual features, which achieve good accuracy but require high computational resources. However, feature point based methods ignore the patterns of image, i.e., the shape of the objects as well as the distribution of objects in an image. It is believed that this information is usually unique for a scene and can be utilized to improve the performance of traditional loop closure detection methods. In this paper we leverage and compress the information into a binary image to accelerate an existing fast loop closure detection method via binary content. The proposed method can greatly reduce the computational cost without sacrificing recall rate. It consists of three parts: binary content construction, fast image retrieval and precise loop closure detection. No offline training is required. Our method is compared with the state-of-the-art loop closure detection methods and the results show that it outperforms the traditional methods at both recall rate and speed.