Fault-Diagnosing SLAM for Varying Scale Change Detection

16 Sep 2019Sugimoto TakumaYamaguchi KousukeTanaka Kanji

In this paper, we present a new fault diagnosis (FD) -based approach for detection of imagery changes that can detect significant changes as inconsistencies between different sub-modules (e.g., self-localizaiton) of visual SLAM. Unlike classical change detection approaches such as pairwise image comparison (PC) and anomaly detection (AD), neither the memorization of each map image nor the maintenance of up-to-date place-specific anomaly detectors are required in this FD approach... (read more)

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