title: Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints.
abstract: 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.
authors.affiliation: School of Information Engineering, East China Jiaotong University, Nanchang 330013, China. hzhang69@utk.edu.|Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA. hzhang69@utk.edu.
authors.forename: Heng
authors.initials: H
authors.lastname: Zhang
authors.affiliation: School of Information Engineering, East China Jiaotong University, Nanchang 330013, China. yliu133@utk.edu.|Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA. yliu133@utk.edu.
authors.forename: Yanli
authors.initials: Y
authors.lastname: Liu
authors.affiliation: Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA. tan@utk.edu.
authors.forename: Jindong
authors.initials: J
authors.lastname: Tan
keywords: SLAM; binary descriptor; geometric constraints; hierarchical clustering