Relative SLAM -- loop closure with FABMAP

Sequence shows how frame dropping and blur trigger the true scale relocalization mechanism. The final frames show the online detection of loop closure by FABMAP.

Video demonstrates a robust stereo-vision SLAM system running at 20-40hz on 512x384 greyscale images. Real-time loop closure is automatic, with distinct places detected using a vocabulary of true scale descriptors and fast appearance based mapping (FABMAP). Using Relative Bundle Adjustment (RBA), the system can run incrementally in constant-time -- even at loop closure.

See http://www.robots.ox.ac.uk/RelativeSLAM for more

Category:

Science & Technology

Tags:

• Robotics
• Vision
• SLAM