Methods for Appearance-based Loop Closure Detection Applications to Topological Mapping and Image Mosaicking /

• Main Authors: Garcia-Fidalgo, Emilio (Author, http://id.loc.gov/vocabulary/relators/aut), Ortiz, Alberto (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2018.
• Edition: 1st ed. 2018.
• Series: Springer Tracts in Advanced Robotics, 122
• Subjects: Robotics.; Automation.; Artificial intelligence.; Robotics and Automation.; Artificial Intelligence.

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...