Methods for appearance-based loop closure detection : applications to topological mapping and image mosaicking / Emilio Garcia-Fidalgo, Alberto Ortiz.

Format:

Book

Author/Creator:

Garcia-Fidalgo, Emilio, author.

Ortiz, Alberto, author.

Contributor:

Alumni and Friends Memorial Book Fund.

Series:

Springer tracts in advanced robotics ; 1610-7438 122.

Springer tracts in advanced robotics, 1610-7438 ; 122

Language:

English

Subjects (All):

Robotics.

Mobile robots.

Image processing.

Localization theory.

Engineering.

Artificial intelligence.

Automation.

Physical Description:

xxv, 159 pages : illustrations (some color) ; 25 cm.

Place of Publication:

Cham, Switzerland : Springer International Publishing, [2018]

Summary:

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.

Contents:

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.

Notes:

Includes bibliographical references.

Local Notes:

Acquired for the Penn Libraries with assistance from the Alumni and Friends Memorial Book Fund.

ISBN:

9783319759920

3319759922

OCLC:

1046086382

Publisher Number:

99976804011