Navigation and Mapping with Loop Closure

Joakim Rydell and Erika Bilock

Abstract:	We present a geometry-based method for long term positioning and mapping, with ability to correct positioning errors and recognize geometry of previously visited regions. The method is implemented in a prototype system for simultaneous localization and mapping (SLAM) based on a time-of-flight (TOF) camera and an inertial measurement unit (IMU). In the system, landmark-based navigation is combined with the presented method for geometry-based loop closure. In this paper we show early results from the system in indoor environments. These results shows considerable improvements compared to not using loop closure, when areas are revisited within a short time.
Published in:	Proceedings of the 30th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2017) September 25 - 29, 2017 Oregon Convention Center Portland, Oregon
Pages:	2898 - 2905
Cite this article:	Rydell, Joakim, Bilock, Erika, "Navigation and Mapping with Loop Closure," Proceedings of the 30th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 2898-2905. https://doi.org/10.33012/2017.15163
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