| 书目名称 | Methods for Appearance-based Loop Closure Detection |
| 副标题 | Applications to Topo |
| 编辑 | Emilio Garcia-Fidalgo,Alberto Ortiz |
| 视频video | |
| 概述 | 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 c |
| 丛书名称 | Springer Tracts in Advanced Robotics |
| 图书封面 |  |
| 描述 | .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 overlappin |
| 出版日期 | Book 2018 |
| 关键词 | Place Recognition; Loop Closure; Mapping; Localization; Mosaicing; Bag-of-Words |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-75993-7 |
| isbn_softcover | 978-3-030-09373-0 |
| isbn_ebook | 978-3-319-75993-7Series ISSN 1610-7438 Series E-ISSN 1610-742X |
| issn_series | 1610-7438 |
| copyright | Springer International Publishing AG, part of Springer Nature 2018 |
发表于 2025-3-21 16:53:26
