庄严

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教授

博士生导师

硕士生导师

主要任职:Vice Dean of School of Control Science and Engineering

性别:男

毕业院校:大连理工大学

学位:博士

所在单位:控制科学与工程学院

学科:模式识别与智能系统. 控制理论与控制工程. 导航、制导与控制

办公地点:大连理工大学 创新园大厦 A611室

联系方式:办公电话:0411-84707581

电子邮箱:zhuang@dlut.edu.cn

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Robust Place Recognition and Loop Closing in Laser-Based SLAM for UGVs in Urban Environments

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论文类型:期刊论文

第一作者:Cao, Fengkui

通讯作者:Zhuang, Y (reprint author), Dalian Univ Technol, Sch Control Sci & Engn, Dalian 116024, Peoples R China.

合写作者:Zhuang, Yan,Zhang, Hong,Wang, Wei

发表时间:2018-05-15

发表刊物:IEEE SENSORS JOURNAL

收录刊物:SCIE

卷号:18

期号:10

页面范围:4242-4252

ISSN号:1530-437X

关键字:Laser scanning; place recognition; simultaneous localization and mapping (SLAM); unmanned ground vehicles (UGVs)

摘要:Robust place recognition plays a key role for the long-term autonomy of unmanned ground vehicles (UGVs) working in indoor or outdoor environments. Although most of the state-of-the-art that approaches for place recognition are vision-based, visual sensors lack adaptability in environments with poor or dynamically changing illumination. In this paper, a 3-D-laser-based place recognition algorithm is proposed to accomplish loop closure detection for simultaneous localization and mapping. An image model named bearing angle (BA) is adopted to convert 3-D laser points to 2-D images, and then ORB features extracted from BA images are utilized to perform scene matching. Since the computational cost for matching a query BA image with all the BA images in a database is too high to meet the requirement of performing real-time place recognition, a visual bag of words approach is used to improve search efficiency. Furthermore, a speed normalization algorithm and a 3-D geometry-based verification algorithm are proposed to complete the proposed place recognition algorithm. Experiments were conducted on two self-developed UGV platforms to verify the performance of the proposed method.