Methods for Appearance-based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking

Mapping and localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sensors present, mapping algorithms usually rely on loop closure detection techniques, which entail the correct identification of previously seen places to reduce the uncertainty of the resulting maps. This book deals with the problem of generating topological maps of the environment using efficient appearance—based loop closure detection techniques. Since the quality of a visua...