Geometry matters: Place recognition in 2D range scans using Geometrical Surface Relations

E. Maehle, Marian Himstedt


Place recognition is a fundamental requirement for mobile robots. It is particularly needed for detecting loop closures in SLAM and to enable self-localization for mobile robots given a prior map. The multitude of existing approaches rely on appearance based methods, e.g. the extraction of interest points in terms of local extrema. It can be observed that the availability of these features is highly environment specific and the limited descriptiveness causes a large number of false-positive matches. This paper utilizes a generic environment description based on normal surface primitives. The association of different places is done using Geometrical Surface Relations (GSR) of co-occurring primitives. Experimental results obtained from publicly available datasets demonstrate that GSR outperforms state-of-the-art approaches in place recognition for large scale outdoor as well as indoor environments.
Original languageEnglish
Title of host publication2015 European Conference on Mobile Robots (ECMR)
Number of pages6
Publication date01.09.2015
Article number7324185
ISBN (Print)978-1-4673-9162-7
ISBN (Electronic)978-1-4673-9163-4
Publication statusPublished - 01.09.2015
EventEuropean Conference on Mobile Robots, ECMR 2015 - Lincoln, United Kingdom
Duration: 02.09.291504.09.2915
Conference number: 118603


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