Visual Loop Closure Detection over Illumination Change

Seongwon Lee, Hyung Gi Jo, Hae Min Cho, Euntai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


In the Simultaneous Localization and Mapping (SLAM) problem, loop closure detection is a task of whether the robot has visited the area or not, when robot has traveled a long distance, and then revisits the previous travel route. Bag-of-visual-words method, one of the popular and fast visual loop closure detection method, converts a query image into a descriptor and compares it with the descriptors of the whole database images to determine loop closure. However, bag-of-visual words method has lower performance when the illumination is changed while a long driving time because the characteristic of the image is changed due to the illumination difference. In this paper, we propose a novel loop closure detection method robust to illumination change through fusing the results of parallel loop closing detection in original color space and illumination invariant space both by generating illumination invariant space image based codebook. Experimental results show that the proposed algorithm robustly performs loop closure detection over illumination change than conventional method.

Original languageEnglish
Title of host publication2019 16th International Conference on Ubiquitous Robots, UR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Electronic)9781728132327
Publication statusPublished - 2019 Jun
Event16th International Conference on Ubiquitous Robots, UR 2019 - Jeju, Korea, Republic of
Duration: 2019 Jun 242019 Jun 27

Publication series

Name2019 16th International Conference on Ubiquitous Robots, UR 2019


Conference16th International Conference on Ubiquitous Robots, UR 2019
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Mechanical Engineering
  • Control and Optimization


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