Overview
- 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
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 122)
Access this book
Tax calculation will be finalised at checkout
Other ways to access
Table of contents (9 chapters)
-
Front Matter
Keywords
About this book
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 componentin 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.
Authors and Affiliations
Bibliographic Information
Book Title: Methods for Appearance-based Loop Closure Detection
Book Subtitle: Applications to Topological Mapping and Image Mosaicking
Authors: Emilio Garcia-Fidalgo, Alberto Ortiz
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-75993-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG, part of Springer Nature 2018
Hardcover ISBN: 978-3-319-75992-0Published: 22 March 2018
Softcover ISBN: 978-3-030-09373-0Published: 14 February 2019
eBook ISBN: 978-3-319-75993-7Published: 14 March 2018
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXV, 159
Number of Illustrations: 6 b/w illustrations, 70 illustrations in colour