A 3D line alignment method for loop closure and mutual localisation in limited resourced MAVs

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In this paper we present a new 3D line alignment technique that can be used in limited resourced MAVs for performing loop closures as well as mutual localisation between MAVs. We identify pairs of 3D line matches from RGB-D frames and find the optimal transformation which aligns these two line sets onto each other in order to find the corresponding relative pose. The alignment of the two 3D line sets are achieved by converting each line match into two matching point pairs and then subjecting them to a least squares minimization process. As we only maintain line features extracted from key frames, our method does not require large memory, high processing power nor a high communication bandwidth between robots. We validate our 3D line alignment technique by performing loop closures and mutual localisation on real-world datasets.
Original languageEnglish
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016)
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509035496
ISBN (Print)9781509035502
Publication statusPublished - 2 Feb 2017
EventInternational Conference on Control, Automation, Robotics and Vision 2016 - Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016
Conference number: 14th
https://ieeexplore.ieee.org/xpl/conhome/7823366/proceeding (Proceedings)


ConferenceInternational Conference on Control, Automation, Robotics and Vision 2016
Abbreviated titleICARCV 2016
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