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A fast histogram-based similarity measure for detecting loop closures in 3-D LIDAR data

: Röhling, T.; Mack, J.; Schulz, D.


Zhang, J. (General Chair) ; IEEE Robotics and Automation Society; IEEE Industrial Electronics Society:
IROS 2015, IEEE/RSJ International Conference on Intelligent Robots and Systems : Hamburg, Germany, 28 September - 2 October 2015
Piscataway, NJ, USA: IEEE Press, 2015
ISBN: 978-1-4799-9993-4 (USB)
ISBN: 978-1-4799-9994-1 (print)
ISBN: 978-1-4799-9995-8
International Conference on Intelligent Robots and Systems (IROS) <2015, Hamburg>
Conference Paper
Fraunhofer FKIE ()

We present a fast method of detecting loop closure opportunities through the use of similarity measures on histograms extracted from 3-D LIDAR data. We avoid computationally expensive features and compute histograms over simple global statistics of the LIDAR scans. The resulting histograms encode sufficient information to detect spatially close scans with high precision and recall and can be computed at rates faster than data acquisition on modest consumer-grade hardware. Our approach is able to match previously established results in LIDAR loop closure detection with less computational overhead.