Methods for Appearance-based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking By Emilio Garcia-Fidalgo
English | PDF,EPUB | 2018 | 180 Pages | ISBN : 3319759922 | 10.12 MB
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.