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- Title
TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion.
- Authors
Jiang, Fangdi; Wang, Wanqiu; You, Hongru; Jiang, Shuhang; Meng, Xin; Kim, Jonghyuk; Wang, Shifeng
- Abstract
Loop-closure detection plays a pivotal role in simultaneous localization and mapping (SLAM). It serves to minimize cumulative errors and ensure the overall consistency of the generated map. This paper introduces a multi-sensor fusion-based loop-closure detection scheme (TS-LCD) to address the challenges of low robustness and inaccurate loop-closure detection encountered in single-sensor systems under varying lighting conditions and structurally similar environments. Our method comprises two innovative components: a timestamp synchronization method based on data processing and interpolation, and a two-order loop-closure detection scheme based on the fusion validation of visual and laser loops. Experimental results on the publicly available KITTI dataset reveal that the proposed method outperforms baseline algorithms, achieving a significant average reduction of 2.76% in the trajectory error (TE) and a notable decrease of 1.381 m per 100 m in the relative error (RE). Furthermore, it boosts loop-closure detection efficiency by an average of 15.5%, thereby effectively enhancing the positioning accuracy of odometry.
- Subjects
MULTISENSOR data fusion; ELECTRONIC data processing; FEATURE extraction; SYNCHRONIZATION; INTERPOLATION
- Publication
Sensors (14248220), 2024, Vol 24, Issue 12, p3702
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s24123702