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© 2018

Methods for Appearance-based Loop Closure Detection

Applications to Topological Mapping and Image Mosaicking

Benefits

  • Addresses the vision-based loop closure detection problem from different points of view

  • Deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques

  • Proposes a Bag of Binary Words (BoBW) approach, which generates the dictionary online, avoiding the classical training step, and this scheme is used to efficiently detect loop closures in the image stream

Book

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 122)

Table of contents

  1. Front Matter
    Pages i-xxv
  2. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 1-8
  3. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 9-25
  4. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 27-58
  5. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 59-67
  6. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 99-118
  7. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 119-140
  8. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 141-156
  9. Emilio Garcia-Fidalgo, Alberto Ortiz
    Pages 157-159

About this book

Introduction

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.
 

Keywords

Place Recognition Loop Closure Mapping Localization Mosaicing Bag-of-Words

Authors and affiliations

  1. 1.Department of Mathematics and Computer ScienceUniversity of the Balearic IslandsPalma de MallorcaSpain
  2. 2.Department of Mathematics and Computer ScienceUniversity of the Balearic IslandsPalma de MallorcaSpain

Bibliographic information

  • Book Title Methods for Appearance-based Loop Closure Detection
  • Book Subtitle Applications to Topological Mapping and Image Mosaicking
  • Authors Emilio Garcia-Fidalgo
    Alberto Ortiz
  • Series Title Springer Tracts in Advanced Robotics
  • Series Abbreviated Title Spr.Tracts in Adv.Robotics
  • DOI https://doi.org/10.1007/978-3-319-75993-7
  • Copyright Information Springer International Publishing AG, part of Springer Nature 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-75992-0
  • Softcover ISBN 978-3-030-09373-0
  • eBook ISBN 978-3-319-75993-7
  • Series ISSN 1610-7438
  • Series E-ISSN 1610-742X
  • Edition Number 1
  • Number of Pages XXV, 159
  • Number of Illustrations 6 b/w illustrations, 70 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
  • Buy this book on publisher's site
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