عنوان

Methods for appearance-based loop closure detection :

(Number (ISBN

3319759930

(Number (ISBN

9783319759937

Erroneous ISBN

3319759922

Erroneous ISBN

9783319759920

Title Proper

Methods for appearance-based loop closure detection :

General Material Designation

[Book]

Other Title Information

applications to topological mapping and image mosaicking /

First Statement of Responsibility

Emilio Garcia-Fidalgo, Alberto Ortiz.

Place of Publication, Distribution, etc.

Cham :

Name of Publisher, Distributor, etc.

Springer,

Date of Publication, Distribution, etc.

2018.

Specific Material Designation and Extent of Item

1 online resource (xxv, 159 pages) :

Other Physical Details

illustrations (some color)

Series Title

Springer Tracts in Advanced Robotics,

Volume Designation

122

ISSN of Series

1610-7438 ;

Text of Note

Includes bibliographical references.

Text of Note

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.

0

Text of Note

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.

Source for Acquisition/Subscription Address

Springer Nature

Stock Number

com.springer.onix.9783319759937

International Standard Book Number

9783319759920

Automation.

Image processing.

Localization theory.

Mobile robots.

Robotics.

Artificial intelligence.

Automation.

Engineering.

Robotics.

TEC004000

TEC037000

TJFM1

Number

Edition

Class number

Book number

Garcia-Fidalgo, Emilio

Ortiz, Alberto

Date of Transaction

20200823110520.0

Cataloguing Rules (Descriptive Conventions))

pn

Electronic name

[Book]

Y