An incremental loop closure detection method based on depth information for indoor dynamic scenes

DOI

10.2991/jimec-18.2018.59How to use a DOI?

Keywords

Dynamic Scene, Loop Closure, SLAM, Place Recognition

Abstract

We present a RGB-D based place recognition algorithm method for large-scale dynamic indoor environment. In contrast with other methods, our methods focus on the scene that dynamic objects are remarkable and avoid the unnecessary calculation expenses on the whole image sequences. In order to prohibit the influence of dynamic object, the depth information was applied to discriminate the image foreground information and filter it out. We conducted our methods on the public dataset and tested on the real environment. The results demonstrate that the proposed methods can effectively improve the loop-closure system in indoor dynamic environments.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhongliang Deng
AU  - Qi Wu
AU  - Jichao Jiao
AU  - Yuan Sun
AU  - Yaokai Mo
AU  - Cheng Zhang
PY  - 2018/12
DA  - 2018/12
TI  - An incremental loop closure detection method based on depth information for indoor dynamic scenes
BT  - Proceedings of the 2018 3rd Joint International Information Technology，Mechanical and Electronic Engineering Conference (JIMEC 2018)
PB  - Atlantis Press
SP  - 275
EP  - 282
SN  - 2589-4943
UR  - https://doi.org/10.2991/jimec-18.2018.59
DO  - 10.2991/jimec-18.2018.59
ID  - Deng2018/12
ER  -