| Autor: |
Fangdi Jiang, Wanqiu Wang, Hongru You, Shuhang Jiang, Xin Meng, Jonghyuk Kim, Shifeng Wang |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 24, Iss 12, p 3702 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s24123702 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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