Methods for Appearance-based Loop Closure Detection : Applications to Topological Mapping and Image Mosaicking / by Emilio Garcia-Fidalgo, Alberto Ortiz.
2018
T59.5
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Details
Title
Methods for Appearance-based Loop Closure Detection : Applications to Topological Mapping and Image Mosaicking / by Emilio Garcia-Fidalgo, Alberto Ortiz.
ISBN
9783319759937
3319759930
9783319759920
3319759922
3319759930
9783319759920
3319759922
Published
Cham : Springer International Publishing : Imprint: Springer, 2018.
Language
English
Description
1 online resource (xxv, 159 pages) : illustrations.
Other Standard Identifiers
10.1007/978-3-319-75993-7 doi
Call Number
T59.5
Dewey Decimal Classification
629.8/92637
Summary
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. .
Bibliography, etc. Note
Includes bibliographical references.
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Access limited to authorized users.
Digital File Characteristics
text file PDF
Added Author
Ortiz, Alberto. author.
Series
Springer tracts in advanced robotics ; 122.
Available in Other Form
Print version: 9783319759920
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Online Access
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Table of Contents
Introduction
Background
Literature Review
Experimental Setup
Loop Closure Detection using Local Features and KD-Trees
Loop Closure Detection using Incremental Bags of Binary Words
Hierarchical Loop Closure Detection for Topological Mapping
Fast Image Mosaicking using Incremental Bags of Binary Words
Conclusions and Future Work.
Background
Literature Review
Experimental Setup
Loop Closure Detection using Local Features and KD-Trees
Loop Closure Detection using Incremental Bags of Binary Words
Hierarchical Loop Closure Detection for Topological Mapping
Fast Image Mosaicking using Incremental Bags of Binary Words
Conclusions and Future Work.