Emilio Garcia-Fidalgo, Alberto Ortiz

Methods for Appearance-based Loop Closure Detection (eBook, PDF)

Applications to Topological Mapping and Image Mosaicking

• Format: PDF

Produktbeschreibung

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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Produktdetails

• Verlag: Springer International Publishing
• Seitenzahl: 159
• Erscheinungstermin: 14. März 2018
• Englisch
• ISBN-13: 9783319759937
• Artikelnr.: 51891638

Inhaltsangabe

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.