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Methods for Appearance-based Loop Closure Detection

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

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Abstract

This chapter is intended to provide the reader with a general overview of the most important concepts and terms needed to understand the rest of the book. Main concepts are briefly introduced, making use of examples as they are needed for illustration purposes. More precisely, in the first section, we consider the concept of topological map and define it in a formal way, as well as discuss its main advantages and disadvantages in front of metric approaches. Next, we deal with appearance-based loop closure detection and the factors that more affect the performance of the underlying algorithms.

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Authors and Affiliations

  1. Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca, Spain

    Emilio Garcia-Fidalgo & Alberto Ortiz

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  1. Emilio Garcia-Fidalgo
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  2. Alberto Ortiz
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Correspondence to Alberto Ortiz .

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Garcia-Fidalgo, E., Ortiz, A. (2018). Background. In: Methods for Appearance-based Loop Closure Detection. Springer Tracts in Advanced Robotics, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-319-75993-7_2

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  • DOI: https://doi.org/10.1007/978-3-319-75993-7_2

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-319-75993-7

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