Difference between revisions of "CTAB-Map"
(→Description) |
(→Description) |
||
| Line 30: | Line 30: | ||
<english> | <english> | ||
| − | Summary of the loop closures detected on | + | Summary of the loop closures detected on UdeS1Hz data set : |
* Green : Loop closures detected | * Green : Loop closures detected | ||
* Yellow : Loop closures rejected | * Yellow : Loop closures rejected | ||
| Line 45: | Line 45: | ||
<french> | <french> | ||
| − | Sommaire des détection de boucles sur l'ensemble de données | + | Sommaire des détection de boucles sur l'ensemble de données UdeS1Hz : |
* Vert : Fermetures de boucle acceptées | * Vert : Fermetures de boucle acceptées | ||
* Jaune : Fermetures de boucle rejetées | * Jaune : Fermetures de boucle rejetées | ||
| Line 59: | Line 59: | ||
</french> | </french> | ||
| − | <french> | + | <french>= Ensemble de données UdeS1Hz =</french><english>= UdeS1Hz data set =</english> |
| − | = Ensemble de données | + | * [[File:UdeS1Hz_part1.zip]] |
| − | </french> | + | * [[File:UdeS1Hz_part2.zip]] |
| − | |||
| − | <english> | ||
| − | = | ||
| − | </english> | ||
= Publications = | = Publications = | ||
Revision as of 19:51, 11 January 2011
CTAB-Map - Constant-Time Appearance-Based Mapping
Description
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM (Simultaneous Localization And Mapping).
Over time, the amount of time required to process new observations increases with the size of the internal map, which may affect real-time processing.
CTAB-Map is a novel real-time loop closure detection approach for large-scale and long-term SLAM. Our approach is based on efficient memory management to keep computation time for each new observation under a fixed time limit, thus achieving <math>O(1)</math> complexity. Results demonstrate the approach's adaptability and scalability using one custom data set and four standard data sets.
Video[edit]
Results[edit]
Summary of the loop closures detected on UdeS1Hz data set :
- Green : Loop closures detected
- Yellow : Loop closures rejected
- Red : Unable to detect a loop closure because old places could not be reactivated
Processing time for each image acquired :
UdeS1Hz data set[edit]
* File:UdeS1Hz part1.zip * File:UdeS1Hz part2.zip
Publications
Labbé, M., Michaud, F. (2011), “Memory management approach for real-time appearance-based loop closure detection,” To appear in IEEE Transactions on Robotics.
Team[edit]
- Mathieu Labbé
- François Michaud
