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Methods for appearance-based loop cl...

Garcia-Fidalgo, Emilio.

Methods for appearance-based loop closure detectionapplications to topological mapping and image mosaicking /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Methods for appearance-based loop closure detectionby Emilio Garcia-Fidalgo, Alberto Ortiz.
其他題名:	applications to topological mapping and image mosaicking /
作者:	Garcia-Fidalgo, Emilio.
其他作者:	Ortiz, Alberto.
出版者:	Cham :Springer International Publishing :2018.
面頁冊數:	xxv, 159 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
標題:	Engineering.
電子資源:	http://dx.doi.org/10.1007/978-3-319-75993-7
ISBN:	9783319759937$q(electronic bk.)

Methods for appearance-based loop closure detectionapplications to topological mapping and image mosaicking /
Garcia-Fidalgo, Emilio.

Methods for appearance-based loop closure detectionapplications to topological mapping and image mosaicking /[electronic resource] :by Emilio Garcia-Fidalgo, Alberto Ortiz. - Cham :Springer International Publishing :2018. - xxv, 159 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,1221610-7438 ;. - Springer tracts in advanced robotics ;v. 13.

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.

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.

ISBN: 9783319759937$q(electronic bk.)

Standard No.: 10.1007/978-3-319-75993-7doiSubjects--Topical Terms:

210888
Engineering.

LC Class. No.: T59.5 / .G373 2018

Dewey Class. No.: 629.892637

Methods for appearance-based loop closure detectionapplications to topological mapping and image mosaicking /
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505 0 $a 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.
520 $a 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.
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