Robust loop closing over time for pose graph SLAM

摘要

Long-term autonomous mobile robot operation requires considering place recognition decisions with great caution. A single incorrect decision that is not detected and reconsidered can corrupt the environment model that the robot is trying to build and maintain. This work describes a consensus-based approach to robust place recognition over time, that takes into account all the available information to detect and remove past incorrect loop closures. The main novelties of our work are: (1) the ability of realizing that, in light of new evidence, an incorrect past loop closing decision has been made; the incorrect information can be removed thus recovering the correct estimation with a novel algorithm; (2) extending our proposal to incremental operation; and (3) handling multi-session, spatially related or unrelated scenarios in a unified manner. We demonstrate our proposal, the RRR algorithm, on different odometry systems, e.g. visual or laser, using different front-end loop-closing techniques. For our experiments we use the efficient graph optimization framework g2o as back-end. We back our claims up with several experiments carried out on real data, in single and multi-session experiments showing better results than those obtained by state-of-the-art methods, comparisons against whom are also presented.