Beta 1


Title Loop Closing in SLAM
Author Knudsen, Kinna Majvig
Supervisor Aanæs, Henrik (Image Analysis and Computer Graphics, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Bachelor thesis
Year 2010
Abstract A general problem in the navigation system of mobile robots is the integration error, which will cause the robot's location to be very inaccurate at some point. The loop closing procedure detects previously visited places which is used to adjust the positions, and thus reduce the effect of the error. This thesis is examining a visual approach of detecting the presence of a loop. Here, images are used to represent places and the SIFT algorithm is used to extract information from these images. A database of previously visited places is created from this information, where each place is represented as in the Bag-of-Words model in a visual version. The structure of the database is created as a vocabulary tree. The partition of known and unknown places is based on a statistical approach. Altogether the system received a 44% final recognition rate at its maximum performance whereas the recognition rate for the image detection alone was 91%. This shows that the visual approach is useful, but the system would still need some improvements before it can be used as a robust tool for loop detection.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Series IMM-B.Sc.-2010-43
Fulltext
Original PDF bac10_43_net.pdf (2.61 MB)
Admin Creation date: 2011-01-03    Update date: 2011-01-03    Source: dtu    ID: 271982    Original MXD