Methods for Appearance-based Loop Closure Detection Applications to Topological Mapping and Image Mosaicking /

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...

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Hlavní autor: Garcia-Fidalgo, Emilio (Autor)
Médium: Elektronický zdroj E-kniha
Jazyk:angličtina
Vydáno: Cham : Springer International Publishing, 2018.
Vydání:1st ed. 2018.
Edice:Springer Tracts in Advanced Robotics, 122
Témata:
Robotics.
Automation.
Artificial intelligence.
ISBN:9783319759937
ISSN:1610-7438 ;
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Obsah:
  • 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.

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