Place Recognition in Forests With Urquhart Tessellations

Guilherme V. Nardari; Avraham Cohen; Steven W. Chen; Xu Liu; Vaibhav Arcot; Roseli A. F. Romero; Vijay Kumar

RA-L 202119 citations

Place Recognition in Forests With Urquhart Tessellations

Guilherme V. Nardari, Avraham Cohen, Steven W. Chen, Xu Liu, Vaibhav Arcot, Roseli A. F. Romero, Vijay Kumar

Abstract

In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark correspondences, even with partial overlap and noise. We run loop closure detection experiments in simulation and real-world data map-merging from different flights of an Unmanned Aerial Vehicle (UAV) in a pine tree forest and show that our method outperforms state-of-the-art approaches in accuracy and robustness.

BibTeX

@inproceedings{ral2021_placerecognition,
  title = {Place Recognition in Forests With Urquhart Tessellations},
  author = {Guilherme V. Nardari and Avraham Cohen and Steven W. Chen and Xu Liu and Vaibhav Arcot and Roseli A. F. Romero and Vijay Kumar},
  booktitle = {RA-L 2021},
  year = {2021}
}