Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Online and Incremental Appearance-based SLAM in Highly Dynamic Environments
International Journal of Robotics Research
Methods for combined monocular and stereo mobile robot localization
ICPR'10 Proceedings of the 20th International conference on Recognizing patterns in signals, speech, images, and videos
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Online probabilistic topological mapping
International Journal of Robotics Research
Appearance-only SLAM at large scale with FAB-MAP 2.0
International Journal of Robotics Research
On-line regression algorithms for learning mechanical models of robots: A survey
Robotics and Autonomous Systems
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
Learning to close loops from range data
International Journal of Robotics Research
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
A pure vision-based topological SLAM system
International Journal of Robotics Research
Global localization with non-quantized local image features
Robotics and Autonomous Systems
Evaluation criteria for appearance based maps
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Loop detection of mobile robots using interval analysis
Automatica (Journal of IFAC)
Image and Vision Computing
How to localize humanoids with a single camera?
Autonomous Robots
Spatio-temporal feature-based keyframe detection from video shots using spectral clustering
Pattern Recognition Letters
Robust offline topological map estimation using visual loop closures
Proceedings of the 6th International Conference on PErvasive Technologies Related to Assistive Environments
Robust omnidirectional mobile robot topological navigation system using omnidirectional vision
Engineering Applications of Artificial Intelligence
Robotics and Autonomous Systems
Self-help: Seeking out perplexing images for ever improving topological mapping
International Journal of Robotics Research
Efficient keyframe-based real-time camera tracking
Computer Vision and Image Understanding
Anytime merging of appearance-based maps
Autonomous Robots
Simplified map representation and map learning system for autonomous navigation of mobile robots
Intelligent Service Robotics
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In robotic applications of visual simultaneous localization and mapping techniques, loop-closure detection and global localization are two issues that require the capacity to recognize a previously visited place from current camera measurements. We present an online method that makes it possible to detect when an image comes from an already perceived scene using local shape and color information. Our approach extends the bag-of-words method used in image classification to incremental conditions and relies on Bayesian filtering to estimate loop-closure probability. We demonstrate the efficiency of our solution by real-time loop-closure detection under strong perceptual aliasing conditions in both indoor and outdoor image sequences taken with a handheld camera.