Le Gentil, Cedric und Vayugundla, Mallikarjuna und Giubilato, Riccardo und Vidal-Calleja, Teresa und Triebel, Rudolph (2020) Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE. International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-01-24, Virtual. doi: 10.1109/IROS45743.2020.9341667. ISBN 978-172816212-6. ISSN 2153-0858.
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Kurzfassung
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visual place recognition approaches less effective than in urban or man-made environments. This paper presents a method to solve the loop closure problem using only spatial information. The key idea is to use a novel continuous and probabilistic representations of terrain elevation maps. Given 3D point clouds of the environment, the proposed approach exploits Gaussian Process (GP) regression with linear operators to generate continuous gradient maps of the terrain elevation information. Traditional image registration techniques are then used to search for potential matches. Loop closures are verified by leveraging both the spatial characteristic of the elevation maps (SE(2) registration) and the probabilistic nature of the GP representation. A submap-based localization and mapping framework is used to demonstrate the validity of the proposed approach. The performance of this pipeline is evaluated and benchmarked using real data from a rover that is equipped with a stereo camera and navigates in challenging, unstructured planetary-like environments in Morocco and on Mt. Etna.
elib-URL des Eintrags: | https://elib.dlr.de/137981/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2020 | ||||||||||||||||||||||||
Erschienen in: | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/IROS45743.2020.9341667 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||
ISBN: | 978-172816212-6 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Localization; Space Robotics and Automation;Multi-Modal Perception; Visual-Based Navigation | ||||||||||||||||||||||||
Veranstaltungstitel: | International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||
Veranstaltungsort: | Virtual | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 24 Oktober 2020 | ||||||||||||||||||||||||
Veranstaltungsende: | 24 Januar 2021 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Multisensorielle Weltmodellierung (E3D OS) [SY], R - Robotischer Wissenschafts-Explorer | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||
Hinterlegt von: | Vayugundla, Mallikarjuna | ||||||||||||||||||||||||
Hinterlegt am: | 26 Nov 2020 09:52 | ||||||||||||||||||||||||
Letzte Änderung: | 07 Jun 2024 10:50 |
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