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JACIII Vol.26 No.2 pp. 247-255
doi: 10.20965/jaciii.2022.p0247
(2022)

Paper:

Simultaneous Detection of Loop-Closures and Changed Objects

Kanji Tanaka, Kousuke Yamaguchi, and Takuma Sugimoto

Graduate School of Engineering, University of Fukui
3-9-1 Bunkyo, Fukui, Fukui 910-8507, Japan

Received:
April 2, 2020
Accepted:
February 8, 2022
Published:
March 20, 2022
Keywords:
loop closure detection, image change detection, SLAM, maintenance-free
Abstract
Simultaneous Detection of Loop-Closures and Changed Objects

A maintenance-free change object detector

Loop-closure detection (LCD) in large non-stationary environments remains an important challenge in robotic visual simultaneous localization and mapping (vSLAM). To reduce computational and perceptual complexity, it is helpful if a vSLAM system has the ability to perform image change detection (ICD). Unlike previous applications of ICD, time-critical vSLAM applications cannot assume an offline background modeling stage, or rely on maintenance-intensive background models. To address this issue, we introduce a novel maintenance-free ICD framework that requires no background modeling. We demonstrate that LCD can be reused as the main process for ICD with minimal extra cost. Based on these concepts, we develop a novel vSLAM component that enables simultaneous LCD and ICD. ICD experiments based on challenging cross-season LCD scenarios validate the efficacy of the proposed method.

Cite this article as:
Kanji Tanaka, Kousuke Yamaguchi, and Takuma Sugimoto, “Simultaneous Detection of Loop-Closures and Changed Objects,” J. Adv. Comput. Intell. Intell. Inform., Vol.26, No.2, pp. 247-255, 2022.
Data files:
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Last updated on May. 20, 2022