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

• Κύριοι συγγραφείς: Garcia-Fidalgo, Emilio (Συγγραφέας, http://id.loc.gov/vocabulary/relators/aut), Ortiz, Alberto (http://id.loc.gov/vocabulary/relators/aut)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2018.
• Έκδοση: 1st ed. 2018.
• Σειρά: Springer Tracts in Advanced Robotics, 122
• Θέματα: 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...

Πίνακας περιεχομένων:

• 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.