Combining odometry and visual loop-closure detection for consistent topo-metrical mapping
RAIRO - Operations Research - Recherche Opérationnelle, Tome 44 (2010) no. 4, pp. 365-377.

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027-1037], which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is used to integrate odometry information and to generate a consistent topo-metrical map much more usable for global localization and path planning. The resulting algorithm which only requires a monocular camera and robot odometry data, is real-time, incremental (i.e. it does not require any a priori information on the environment), and can be easily embedded on medium platforms.

DOI : 10.1051/ro/2010021
Classification : 68T40, 93C85
Mots-clés : SLAM, monocular vision, odometry, mobile robot, topo-metrical map 
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     pages = {365--377},
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Bazeille, S.; Filliat, D. Combining odometry and visual loop-closure detection for consistent topo-metrical mapping. RAIRO - Operations Research - Recherche Opérationnelle, Tome 44 (2010) no. 4, pp. 365-377. doi : 10.1051/ro/2010021. http://archive.numdam.org/articles/10.1051/ro/2010021/

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