000 03822nam a22005655i 4500
001 978-3-319-75993-7
003 DE-He213
005 20220801214644.0
007 cr nn 008mamaa
008 180314s2018 sz | s |||| 0|eng d
020 _a9783319759937
_9978-3-319-75993-7
024 7 _a10.1007/978-3-319-75993-7
_2doi
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aGarcia-Fidalgo, Emilio.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_939644
245 1 0 _aMethods for Appearance-based Loop Closure Detection
_h[electronic resource] :
_bApplications to Topological Mapping and Image Mosaicking /
_cby Emilio Garcia-Fidalgo, Alberto Ortiz.
250 _a1st ed. 2018.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2018.
300 _aXXV, 159 p. 76 illus., 70 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v122
505 0 _aIntroduction -- 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.
520 _aMapping 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. .
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aArtificial intelligence.
_93407
650 1 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aArtificial Intelligence.
_93407
700 1 _aOrtiz, Alberto.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_939645
710 2 _aSpringerLink (Online service)
_939646
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319759920
776 0 8 _iPrinted edition:
_z9783319759944
776 0 8 _iPrinted edition:
_z9783030093730
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v122
_939647
856 4 0 _uhttps://doi.org/10.1007/978-3-319-75993-7
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c76594
_d76594