Garcia-Fidalgo Emilio, Ortiz Alberto Methods for Appearance-Based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking 9783030093730

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Автор: Garcia-Fidalgo Emilio, Ortiz Alberto
Название: Methods for Appearance-Based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking
ISBN: 9783030093730
Издательство: Springer
Классификация:

Промышленный дизайн

Электроника

Робототехника

Искусственный интеллект

ISBN-10: 3030093735
Обложка/Формат: Paperback
Страницы: 188
Вес: 0.27 кг.
Дата издания: 05.04.2019
Серия: Springer tracts in advanced robotics
Язык: English
Издание: Softcover reprint of
Иллюстрации: 70 illustrations, color; 6 illustrations, black and white; xxv, 159 p. 76 illus., 70 illus. in color.
Размер: 234 x 156 x 10
Читательская аудитория: Professional & vocational
Подзаголовок: Applications to topological mapping and image mosaicking
Ссылка на Издательство: Link
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Поставляется из: Германии
Описание: 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.
Дополнительное описание: 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.- F

Methods for Appearance-Based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking, Garcia-Fidalgo Emilio, Ortiz Alberto