Have I Been Here Before? A Method for Detecting Loop Closure With LiDAR

Abstract

Loop closure detection has progressed to operate in real time in areas as massive as an entire city. This impressive result is enabled by the richness and uniqueness of visual stimuli in a city. If a robot were required instead to operate in a deep underground complex of tunnels that is absent of unique features, then a new set of tools is needed to enable a similar level of performance. We present a unified representation for recognizing global loop closure, which incorporates appearance- and spatial-based techniques on a mobile robot system, which has the unfortunate task of exploring a system of austere underground tunnels with only a laser scanner as a guide.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2015
Accession Number
ADA612636

Entities

People

  • Jason M. Gregory
  • John G. Rogers Iii

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Cartography
  • Data Sets
  • Detection
  • Environment
  • Errors
  • Experimental Design
  • Global Positioning Systems
  • Graphs
  • Inertial Measurement Units
  • Information Science
  • Measurement
  • Point Clouds
  • Precision
  • Simultaneous Localization And Mapping
  • Test Facilities
  • Three Dimensional
  • Trajectories

Readers

  • Environmental Remediation and Restoration.
  • Sensor Fusion and Tracking Systems.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Directed Energy