An image-to-map loop closing method for monocular SLAM

@article{Williams2008AnIL,
  title={An image-to-map loop closing method for monocular SLAM},
  author={Brian Patrick Williams and Mark Joseph Cummins and Jos{\'e} Neira and Paul Newman and Ian D. Reid and Juan D. Tard{\'o}s},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={2053-2059}
}
In this paper we present a loop closure method for a handheld single-camera SLAM system based on our previous work on relocalization. By finding correspondences between the current image and the map, our system is able to reliably detect loop closures. We compare our algorithm to existing techniques for loop closure in single-camera SLAM based on both image-to-image and map-to-map correspondences and discuss both the reliability and suitability of each algorithm in the context of monocular SLAM… CONTINUE READING
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Tard́ os. Data association in stochastic mapping using the joint compatibility test

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  • InIEEE Transactions on Robotics and Automation
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