An image-to-map loop closing method for monocular SLAM

摘要

In this paper we present a loop closure method for a handheld single-camera SLAM system based on our previous work on relocalisation. By finding correspondences between the current image and the map, our system is able to reliably detect loop closures. We compare our algorithm to existing techniques for loop closure in single-camera SLAM based on both image-to-image and map-to-map correspondences and discuss both the reliability and suitability of each algorithm in the context of monocular SLAM. ©2008 IEEE.