Appearance‐based approach to hybrid metric‐topological simultaneous localisation and mapping

Abstract

In this study a unified framework to carry out the simultaneous localisation and mapping of a mobile robot combining metric and topological techniques is presented. The robot moves in a real indoor environment and the algorithm makes use of the information provided by an omnidirectional camera mounted on the robot and its internal odometry. The hybrid approach consists in constructing simultaneously two maps of the environment, one metric and other topological with relationships between them which are updated in each step. The robot goes through the environment to build up a map while continuously captures images. To build the topological map the most relevant information from the scenes is extracted using a global appearance descriptor. A new node is added to the map when the appearance between two images is sufficiently different. Also, the authors check if there is a loop closure with a previous node. At the same time, a metrical map of the environment is computed. With this aim, the authors estimate the position of the robot when it captures a new image using a Monte-Carlo algorithm. The authors show how it is possible to obtain a reasonable performance both in time and accuracy in an indoor environment, when the involved parameters are properly tuned.

A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors

“…An additional step in building topological maps with omnidirectional images is to create a hierarchical map structure that combines metric and topology. In this area, Fernández et al [131] present a framework to carry out SLAM (Simultaneous Localization And Mapping) using panoramic scenes. The mapping is approached in a hybrid way, constructing simultaneously a model with two layers and checking if a loop closure is produced with a previous node.…”

Target distance measurement method using monocular vision

“…Yang et al [14] proposed dynamic RGB‐D encoder SLAM for a differential‐drive robot. Fernandez et al [15] devised the appearance‐based approach to hybrid metric‐topological SLAM. These state‐of‐the‐art SLAM methods [13–15] could have high accuracy localisation capabilities and impressive mapping effects.…”

“…Fernandez et al [15] devised the appearance‐based approach to hybrid metric‐topological SLAM. These state‐of‐the‐art SLAM methods [13–15] could have high accuracy localisation capabilities and impressive mapping effects. However, they assume that the operating environment is static, thus limiting their application in the real dynamic world.…”

Relative Altitude Estimation Using Omnidirectional Imaging and Holistic Descriptors

“…Payá et al presented a study of the feasibility of some techniques based on the global appearance of omnidirectional images to carry out localization [13] and mapping tasks [14]. Fernández et al [15] presented a global-appearance approach to carry out simultaneous localization and mapping tasks using hybrid metric-topological maps. The present paper makes use of holistic methods to describe omnidirectional images.…”