|
个人信息Personal Information
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. 人工智能
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
Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments
点击次数：
论文类型：期刊论文
发表时间：2016-04-01
发表刊物：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
收录刊物：SCIE、EI
卷号：13
期号：2
ISSN号：1729-8814
关键字：Loop-closure Detection; 3-D Laser Point Cloud; Unmanned Aerial Vehicles (UAVs)
摘要：Online loop-closure detection serves as an essential task for Unmanned Aerial Vehicles (UAVs) equipped with laser scanners. Due to the inherent errors in UAVs' pose estimation, a 3-D reconstruction algorithm is adopted to perform 3-D map building, which establishes probabilistic models of the system according to the assumption of errors. To meet the demand of online loop-closure detection using sequential 2-D laser data, a robust ISW-NDT (incremental sliding-window-based NDT) approach is proposed, which compares the appearance similarity between two scans by sliding a window with fixed size. Compared with the conventional 3-D NDT approach, the proposed loop-closure detection algorithm is capable of providing superior performance in large-scale outdoor environments, achieving higher recall rate at 100% precision and ensuring successful online implementation. Experimental results show the validity and robustness of the proposed method.