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Vision-Based Topological Navigation: An Implicit Solution to Loop Closure

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Handbook of Intelligent Vehicles

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Abstract

Autonomous navigation using a single camera is a challenging and active field of research. Among the different approaches, visual memory-based navigation strategies have gained increasing interests in the last few years. They consist of representing the mobile robot environment with visual features topologically organized gathered in a database (visual memory). Basically, the navigation process from a visual memory can be split in three stages: (1) visual memory acquisition, (2) initial localization, and (3) path planning and following (refer to Fig. 53.1). Importantly, this frame work allows accurate autonomous navigation without using explicitly a loop closure strategy. The goal of this chapter is to provide to the reader an illustrative example of such a strategy.

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Authors and Affiliations

  1. Clermont Université, Université Blaise Pascal, BP 10448 CLERMONT-FERRAND, LASMEA, F-63000, France

    Dr. Youcef Mezouar & Prof. Jonathan Courbon

  2. Clermont Université, IFMA, BP 10448, F-63000 CLERMONT-FERRAND, LASMEA, France

    Prof. Philippe Martinet

  3. CNRS, UMR 6602, LASMEA, F-63177 AUBIERE, France

    Dr. Youcef Mezouar, Prof. Jonathan Courbon & Prof. Philippe Martinet

Authors
  1. Dr. Youcef Mezouar
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  2. Prof. Jonathan Courbon
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  3. Prof. Philippe Martinet
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Corresponding author

Correspondence to Youcef Mezouar .

Editor information

Editors and Affiliations

  1. Center for Intelligent Systems Research, The George Washington University, 801 22nd Street, NW, Phillips Hall 630, Washington, DC, 20052, USA

    Azim Eskandarian

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Mezouar, Y., Courbon, J., Martinet, P. (2012). Vision-Based Topological Navigation: An Implicit Solution to Loop Closure. In: Eskandarian, A. (eds) Handbook of Intelligent Vehicles. Springer, London. https://doi.org/10.1007/978-0-85729-085-4_53

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