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Fast Loop Closure Detection Using Probabilistic Integration of Pose and Appearance Similarity

Description

The loop closure detection is a key issue to eliminate the accumulative error of visual odometry. In this work, a novel pose-appearance-based loop closure detection method is proposed, inspired by the complementarity of the pose and the appearance. The pose-based loop closure probability model is derived based on the non-linear optimization model of the visual odometry. Then the combination of the pose-based probability and any existing appearance-based loop closure detection method is detailed.

This project cantians the basic implementation of the pose-based loop closure probability, in the files of ProbabilisticLoopClosing.h and ProbabilisticLoopClosing.cpp.

As a “pure” LCD method, The proposed loop closure detection method can ONLY work together with a on-linear optimization-based visual odometry. The demonstration of applying this method in ORB-SLAM2 is provided in this project.

Maintainer: NuBot workshop, NUDT China - http://nubot.trustie.net and https://github.com/nubot-nudt

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Pose-Appearance-based Loop detection

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