Methods for Appearance-based Loop Closure Detection (eBook, PDF)
Applications to Topological Mapping and Image Mosaicking
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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
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