Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)

An incremental loop closure detection method based on depth information for indoor dynamic scenes

Authors
Zhongliang Deng, Qi Wu, Jichao Jiao, Yuan Sun, Yaokai Mo, Cheng Zhang
Corresponding Author
Zhongliang Deng
Available Online December 2018.
DOI
10.2991/jimec-18.2018.59How to use a DOI?
Keywords
Dynamic Scene, Loop Closure, SLAM, Place Recognition
Abstract

We present a RGB-D based place recognition algorithm method for large-scale dynamic indoor environment. In contrast with other methods, our methods focus on the scene that dynamic objects are remarkable and avoid the unnecessary calculation expenses on the whole image sequences. In order to prohibit the influence of dynamic object, the depth information was applied to discriminate the image foreground information and filter it out. We conducted our methods on the public dataset and tested on the real environment. The results demonstrate that the proposed methods can effectively improve the loop-closure system in indoor dynamic environments.

Copyright
© 2019, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)
Series
Atlantis Highlights in Engineering
Publication Date
December 2018
ISBN
978-94-6252-647-1
ISSN
2589-4943
DOI
10.2991/jimec-18.2018.59How to use a DOI?
Copyright
© 2019, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Zhongliang Deng
AU  - Qi Wu
AU  - Jichao Jiao
AU  - Yuan Sun
AU  - Yaokai Mo
AU  - Cheng Zhang
PY  - 2018/12
DA  - 2018/12
TI  - An incremental loop closure detection method based on depth information for indoor dynamic scenes
BT  - Proceedings of the 2018 3rd Joint International Information Technology,Mechanical and Electronic Engineering Conference (JIMEC 2018)
PB  - Atlantis Press
SP  - 275
EP  - 282
SN  - 2589-4943
UR  - https://doi.org/10.2991/jimec-18.2018.59
DO  - 10.2991/jimec-18.2018.59
ID  - Deng2018/12
ER  -