Relocalization with Submaps: Multi-Session Mapping for Planetary Rovers Equipped with Stereo Cameras

Giubilato, R; Vayugundla, M; Schuster, MJ; Sturzl, W; Wedler, A; Triebel, R; Debei, S

Relocalization with Submaps: Multi-Session Mapping for Planetary Rovers Equipped with Stereo Cameras

Giubilato, R Vayugundla, M

Schuster, MJ Sturzl, W Wedler, A Triebel, R Debei, S

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Publisher:: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Type:: Journal Article
Citation:: IEEE Robotics and Automation Letters, 2020, 5, (2), pp. 580-587
Issue Date:: 2020-04-01

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Field	Value	Language
dc.contributor.author	Giubilato, R
dc.contributor.author	Vayugundla, M https://orcid.org/0000-0002-9277-0461
dc.contributor.author	Schuster, MJ
dc.contributor.author	Sturzl, W
dc.contributor.author	Wedler, A
dc.contributor.author	Triebel, R
dc.contributor.author	Debei, S
dc.date.accessioned	2021-03-18T23:33:55Z
dc.date.available	2021-03-18T23:33:55Z
dc.date.issued	2020-04-01
dc.identifier.citation	IEEE Robotics and Automation Letters, 2020, 5, (2), pp. 580-587
dc.identifier.issn	2377-3766
dc.identifier.issn	2377-3766
dc.identifier.uri	http://hdl.handle.net/10453/147355
dc.description.abstract	© 2016 IEEE. To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and efficient way previously visited places. The proposed relocalization scheme is validated on challenging datasets captured using a planetary rover prototype on Mount Etna, designated as a Moon analogue environment.
dc.language	English
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.ispartof	IEEE Robotics and Automation Letters
dc.relation.isbasedon	10.1109/LRA.2020.2964157
dc.rights	© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0913 Mechanical Engineering
dc.title	Relocalization with Submaps: Multi-Session Mapping for Planetary Rovers Equipped with Stereo Cameras
dc.type	Journal Article
utslib.citation.volume	5
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.consider-herdc	false
dc.date.updated	2021-03-18T23:33:52Z
pubs.issue	2
pubs.publication-status	Published
pubs.volume	5
utslib.citation.issue	2

Abstract:

© 2016 IEEE. To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and efficient way previously visited places. The proposed relocalization scheme is validated on challenging datasets captured using a planetary rover prototype on Mount Etna, designated as a Moon analogue environment.

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http://hdl.handle.net/10453/147355