Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, ima...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2012 |
| País: | España |
| Institución: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repositorio: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10256/8647 |
| Acceso en línea: | http://hdl.handle.net/10256/8647 |
| Access Level: | acceso embargado |
| Palabra clave: | Imatges -- Processament Image processing Visió per ordinador Computer vision |
| Sumario: | Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, images corresponding to the same scene region can be associated. State-of-theart proposals that address this topic use prebuilt vocabularies that generally require a priori knowledge of the environment. We propose a novel method for appearance-based navigation and mapping where the visual vocabularies are built online, thus eliminating the need for prebuilt data. We also show that the proposed technique allows efficient loop-closure detection, even at small vocabulary sizes, resulting in a higher computational efficiency |
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