Methods f08r Appearance-based Loop Closure Detection: Applications to Topological Mapping 4nd Image Mosaicking
Methods f08r Appearance-based Loop Closure Detection: Applications to Topological Mapping 4nd Image Mosaicking By Emilio Garcia-Fidalgo
English | PDF,EPUB | 2018 | 180 Pages | ISBN : 3319759922 | 10.12 MB
Mapping 4nd localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sens08rs present, mapping alg08rithms usually rely on loop closure detection techniques, which entail the c08rrect 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 alg08rithm is related to the image description method 4nd its ability to index previously seen images, several methods f08r loop closure detection adopting different approaches are developed 4nd assessed.
Then, these methods are used in three novel topological mapping alg08rithms. The results obtained indicate that the solutions proposed attain a better perf08rmance 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 alg08rithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in 08rder to find overlapping pairs between images 4nd finally obtain seamless mosaics of different environments in a reasonable amount of time.
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