Robust visual SLAM across seasons

摘要

In this paper, we present an appearance-based visual SLAM approach that focuses on detecting loop closures across seasons. Given two image sequences, our method first extracts one descriptor per image for both sequences using a deep convolutional neural network. Then, we compute a similarity matrix by comparing each image of a query sequence with a database. Finally, based on the similarity matrix, we formulate a flow network problem and compute matching hypotheses between sequences. In this way, our approach can handle partially matching routes, loops in the trajectory and different speeds of the robot. With a matching hypothesis as loop closure information and the odometry information of the robot, we formulate a graph based SLAM problem and compute a joint maximum likelihood trajectory.