Methods for Appearance-based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking: Springer Tracts in Advanced Robotics, cartea 122
Autor Emilio Garcia-Fidalgo, Alberto Ortizen Limba Engleză Paperback – 14 feb 2019
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Specificații
ISBN-13: 9783030093730
ISBN-10: 3030093735
Ilustrații: XXV, 159 p. 76 illus., 70 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.27 kg
Ediția:Softcover reprint of the original 1st ed. 2018
Editura: Springer International Publishing
Colecția Springer
Seria Springer Tracts in Advanced Robotics
Locul publicării:Cham, Switzerland
ISBN-10: 3030093735
Ilustrații: XXV, 159 p. 76 illus., 70 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.27 kg
Ediția:Softcover reprint of the original 1st ed. 2018
Editura: Springer International Publishing
Colecția Springer
Seria Springer Tracts in Advanced Robotics
Locul publicării:Cham, Switzerland
Cuprins
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.
Textul de pe ultima copertă
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.
Caracteristici
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