TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion.
Sensors (Basel)
; 24(12)2024 Jun 07.
Article
em En
| MEDLINE
| ID: mdl-38931487
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.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
Sensors (Basel)
Ano de publicação:
2024
Tipo de documento:
Article
País de afiliação:
China