Tsintotas / Bampis / Gasteratos Online Appearance-Based Place Recognition and Mapping

Their Role in Autonomous Navigation
Erscheinungsjahr 2022
ISBN: 978-3-031-09396-8
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 133, 111 Seiten, eBook

Reihe: Springer Tracts in Advanced Robotics

This book introduces several appearance-based place recognition pipelines based on different mapping techniques for addressing loop-closure detection in mobile platforms with limited computational resources. The motivation behind this book has been the prospect that in many contemporary applications efficient methods are needed that can provide high performance under run-time and memory constraints. Thus, three different mapping techniques for addressing the task of place recognition for simultaneous localization and mapping (SLAM) are presented. The book at hand follows a tutorial-based structure describing each of the main parts needed for a loop-closure detection pipeline to facilitate the newcomers. It mainly goes through a historical review of the problem, focusing on how it was addressed during the years reaching the current age. This way, the reader is initially familiarized with each part while the place recognition paradigms follow.

Zielgruppe

Research

Autoren/Hrsg.

Tsintotas, Konstantinos A.

Bampis, Loukas

Gasteratos, Antonios

Inhaltsverzeichnis

The revisiting problem in simultaneous localization and mapping.- Benchmarking.- Probabilistic appearance-based place recognition through hierarchical mapping.- Dynamic places’ de?nition for sequence-based visual place recognition.- Modest-vocabulary loop-closure detection with incremental bag of Tracked words.- Open challenges and conclusion.