Produktbild: Methods for Appearance-based Loop Closure Detection

Methods for Appearance-based Loop Closure Detection

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Applications to Topological Mapping and Image Mosaicking, Springer Tracts in Advanced Robotics 122

ISBN: 3319759922
ISBN 13: 9783319759920
Autor: Garcia-Fidalgo, Emilio/Ortiz, Alberto
Verlag: Springer Verlag GmbH
Umfang: xxv, 159 S., 6 s/w Illustr., 70 farbige Illustr., 159 p. 76 illus., 70 illus. in color.
Erscheinungsdatum: 22.03.2018
Auflage: 1/2019
Produktform: Gebunden/Hardback
Einband: Gebunden

Mapping and localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sensors present, mapping algorithms usually rely on loop closure detection techniques, which entail the correct identification of previously seen places to reduce the uncertainty of the resulting maps. This book deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques. Since the quality of a visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed. Then, these methods are used in three novel topological mapping algorithms. The results obtained indicate that the solutions proposed attain a better performance than several state-of-the-art approaches. To conclude, given that loop closure detection is also a key component in other research areas, a multi-threaded image mosaicing algorithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in order to find overlapping pairs between images and finally obtain seamless mosaics of different environments in a reasonable amount of time.

Artikelnummer: 3514648 Kategorie:

Beschreibung

Addresses the vision-based loop closure detection problem from different points of view Deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques Proposes a Bag of Binary Words (BoBW) approach, which generates the dictionary online, avoiding the classical training step, and this scheme is used to efficiently detect loop closures in the image stream

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