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Sensors 2015, 15(6), 14639-14660;

Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints

1,2,* and 2
School of Information Engineering, East China Jiaotong University, Nanchang 330013, China
Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA
Author to whom correspondence should be addressed.
Received: 1 April 2015 / Revised: 11 June 2015 / Accepted: 15 June 2015 / Published: 19 June 2015
(This article belongs to the Special Issue Sensors for Indoor Mapping and Navigation)
Full-Text   |   PDF [19277 KB, uploaded 19 June 2015]


A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, the feature descriptors are stored using the Locality-Sensitive-Hashing (LSH) technique and hierarchical clustering trees are used to search for these binary features. Finally, the algorithm for matching of multi feature points using local geometric constraints is provided, which can effectively reject the possible false closure hypotheses. We demonstrate the efficiency of our algorithms by real-time RGB-D SLAM with loop closing detection in indoor image sequences taken with a handheld Kinect camera and comparative experiments using other algorithms in RTAB-Map dealing with a benchmark dataset. View Full-Text
Keywords: SLAM; binary descriptor; geometric constraints; hierarchical clustering SLAM; binary descriptor; geometric constraints; hierarchical clustering
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Zhang, H.; Liu, Y.; Tan, J. Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints. Sensors 2015, 15, 14639-14660.

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