Keyframe extraction and loop closure detection considering robot motion

Haosong Yue; Yue Yu; Xingming Wu; Weihai Chen

doi:10.1109/ICIEA.2018.8397831

Keyframe extraction and loop closure detection considering robot motion

Haosong Yue
, Yue Yu
, Xingming Wu^*
, Weihai Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Appearance based loop closure detection is a crucial technique for robot simultaneous localization and mapping. Extracting appropriate keyframes can reduce computational cost. In this paper, we propose a keyframe extraction and loop closure detection algorithm considering robot motion information. Both linear and angular velocities of the robot are utilized to decide when to extract the query keyframe. Comparative experiments are carried out on a public dataset to verify the proposed algorithm. The results demonstrate that our algorithm can extract appropriate keyframes at key points on robot trajectory and can be used in loop closure detection.

Original language	English
Title of host publication	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	847-851
Number of pages	5
ISBN (Electronic)	9781538637579
DOIs	https://doi.org/10.1109/ICIEA.2018.8397831
State	Published - 26 Jun 2018
Event	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, China Duration: 31 May 2018 → 2 Jun 2018

Publication series

Name	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Conference

Conference	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Country/Territory	China
City	Wuhan
Period	31/05/18 → 2/06/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

SLAM
keyframe extraction
loop closure detection

Access to Document

10.1109/ICIEA.2018.8397831

Cite this

Yue, H., Yu, Y., Wu, X., & Chen, W. (2018). Keyframe extraction and loop closure detection considering robot motion. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (pp. 847-851). (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2018.8397831

Yue, Haosong ; Yu, Yue ; Wu, Xingming et al. / Keyframe extraction and loop closure detection considering robot motion. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 847-851 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

@inproceedings{9f707a76cd9140968511694a4f43c4d6,

title = "Keyframe extraction and loop closure detection considering robot motion",

abstract = "Appearance based loop closure detection is a crucial technique for robot simultaneous localization and mapping. Extracting appropriate keyframes can reduce computational cost. In this paper, we propose a keyframe extraction and loop closure detection algorithm considering robot motion information. Both linear and angular velocities of the robot are utilized to decide when to extract the query keyframe. Comparative experiments are carried out on a public dataset to verify the proposed algorithm. The results demonstrate that our algorithm can extract appropriate keyframes at key points on robot trajectory and can be used in loop closure detection.",

keywords = "SLAM, keyframe extraction, loop closure detection",

author = "Haosong Yue and Yue Yu and Xingming Wu and Weihai Chen",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 ; Conference date: 31-05-2018 Through 02-06-2018",

year = "2018",

month = jun,

day = "26",

doi = "10.1109/ICIEA.2018.8397831",

language = "英语",

series = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "847--851",

booktitle = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

address = "美国",

}

Yue, H, Yu, Y, Wu, X & Chen, W 2018, Keyframe extraction and loop closure detection considering robot motion. in Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 847-851, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, China, 31/05/18. https://doi.org/10.1109/ICIEA.2018.8397831

Keyframe extraction and loop closure detection considering robot motion. / Yue, Haosong; Yu, Yue; Wu, Xingming et al.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 847-851 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Keyframe extraction and loop closure detection considering robot motion

AU - Yue, Haosong

AU - Yu, Yue

AU - Wu, Xingming

AU - Chen, Weihai

PY - 2018/6/26

Y1 - 2018/6/26

N2 - Appearance based loop closure detection is a crucial technique for robot simultaneous localization and mapping. Extracting appropriate keyframes can reduce computational cost. In this paper, we propose a keyframe extraction and loop closure detection algorithm considering robot motion information. Both linear and angular velocities of the robot are utilized to decide when to extract the query keyframe. Comparative experiments are carried out on a public dataset to verify the proposed algorithm. The results demonstrate that our algorithm can extract appropriate keyframes at key points on robot trajectory and can be used in loop closure detection.

AB - Appearance based loop closure detection is a crucial technique for robot simultaneous localization and mapping. Extracting appropriate keyframes can reduce computational cost. In this paper, we propose a keyframe extraction and loop closure detection algorithm considering robot motion information. Both linear and angular velocities of the robot are utilized to decide when to extract the query keyframe. Comparative experiments are carried out on a public dataset to verify the proposed algorithm. The results demonstrate that our algorithm can extract appropriate keyframes at key points on robot trajectory and can be used in loop closure detection.

KW - SLAM

KW - keyframe extraction

KW - loop closure detection

UR - https://www.scopus.com/pages/publications/85050136557

U2 - 10.1109/ICIEA.2018.8397831

DO - 10.1109/ICIEA.2018.8397831

M3 - 会议稿件

AN - SCOPUS:85050136557

T3 - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

SP - 847

EP - 851

BT - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Y2 - 31 May 2018 through 2 June 2018

ER -

Yue H, Yu Y, Wu X, Chen W. Keyframe extraction and loop closure detection considering robot motion. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 847-851. (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). doi: 10.1109/ICIEA.2018.8397831

Keyframe extraction and loop closure detection considering robot motion

Abstract

Publication series

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UN SDGs

Keywords

Access to Document

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