Loop closure detection (LCD) is an indispensable module in simultaneous localization and mapping. It is responsible to recognize pre-visited areas during the navigation of a robot, providing auxiliary information to revise pose estimation. Unlike most current methods which focus on seeking an appropriate representation of images, we propose a novel two-stage pipeline dominated by the estimation of spatial geometric relationship. Specifically, to avoid unnecessary memory costs, consecutive images are segmented into sequences as per the similarity of their global features. Then the sequence descriptor is incrementally inserted into hierarchical navigable small world for the construction of reference database, from which the most similar image for the query one is searched parallelly. To further identify whether the candidate pair is geometry-consistent, a feature matching method termed as bidirectional manifold representation consensus (BMRC) is proposed. It constructs local neighborhood structures of feature points via manifold representation, and formulates the matching problem into an optimization model, enabling linearithmic time complexity via a closed-form solution. Meanwhile, an accelerated version of it is introduced (BMRC*), which performs about 63% faster than BMRC in an image pair with 352 initial correspondences. Extensive experiments on nine publicly available datasets demonstrate that BMRC and BMRC* perform well in feature matching and the proposed pipeline has remarkable performance in the LCD task.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Loop Closure Detection With Bidirectional Manifold Representation Consensus


    Contributors:
    Zhang, Kaining (author) / Li, Zizhuo (author) / Ma, Jiayi (author)


    Publication date :

    2023-04-01


    Size :

    3513042 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    BIDIRECTIONAL LOOP CLOSURE DETECTION ON PANORAMAS FOR VISUAL NAVIGATION

    Arroyo, R. / Alcantarilla, P. / Bergasa, L. et al. | British Library Conference Proceedings | 2014



    PLSAV: Parallel loop searching and verifying for loop closure detection

    Yang, Zhe / Pan, Yun / Deng, Lei et al. | Wiley | 2021

    Free access

    PLSAV: Parallel loop searching and verifying for loop closure detection

    Zhe Yang / Yun Pan / Lei Deng et al. | DOAJ | 2021

    Free access

    Global image signature for visual loop-closure detection

    Negre Carrasco, P. L. | British Library Online Contents | 2016