Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds In Outdoor Environment

Ming Liao, Yunzhou Zhang, Jinping Zhang, Zhenzhong Cao, Xiaoyu Zhao, Sonya Coleman, Dermot Kerr

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)
96 Downloads (Pure)

Abstract

Loop closure detection has the potential to correct the drift of trajectories and build a global consistent map in LiDAR SLAM, however it remains a challenging problem in outdoor environment due to the sparsity of 3D point clouds data, large-scale scenes and moving objects. Inspired by the way humans perceive the environment through recognizing objects and identifying their relations, this paper presents a novel descriptor that contains semantic and topological information for loop closure detection. Unlike most existing methods that extract features from the raw point clouds or use all semantic objects, we directly discard point clouds representing pedestrians and vehicles after semantic segmentation. Then, we propose a semantic topological graph representation from the remaining point clouds and convert this graph into a descriptor. Additionally, we propose a two-stage algorithm for matching descriptors to efficiently determine the loop. Our method has been extensively evaluated using the KITTI dataset and outperforms state-of-the-art methods, especially in the challenging situations such as viewpoint changes and dynamic scenes.

Original languageEnglish
Title of host publication2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages1-8
Number of pages8
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusPublished online - 26 Dec 2022
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

Bibliographical note

This work was supported by Natural Science Foundation of China (No. 61973066, 61471110) , Major Science and Technology Projects of Liaoning Province (No. 2021JH1/10400049), Foundation of Key Laboratory of Aerospace System Simulation (No. 6142002200301), Foundation of Key Laboratory of Equipment Reliability (No. WD2C20205500306), Open Research Projects of Zhejiang Lab (No. 2019KD0AD01/006) and Major Science and Technology Innovation Engineering Projects of Shandong Province (No.2019JZZY010128).

Keywords

  • Semantic
  • Topological
  • SLAM
  • Loop-closure

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