000			03680nam a22004095i 4500
710	2		_aSpringerLink (Online service) _0http://id.loc.gov/authorities/names/no2005046756 _1http://viaf.org/viaf/148105729 _9106996
999			_c108084 _d108084
001			108084
003			DE-He213
005			20240111050149.0
006			a||||fo|||| 00| 0
007			cr nn 008mamaa
008			180314s2018 gw | s |||| 0|eng d
020			_a9783319759937
024	7		_a10.1007/978-3-319-75993-7 _2doi
040			_bspa _dES-MaUEC
050		4	_aTJ211.415 2018 EB
100	1		_aGarcia-Fidalgo, Emilio _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/no2018099800 _1http://viaf.org/viaf/10153361357837392701
245	1	0	_aMethods for Appearance-based Loop Closure Detection : _bApplications to Topological Mapping and Image Mosaicking _cby Emilio Garcia-Fidalgo, Alberto Ortiz.
264		1	_aCham _bSpringer International Publishing _bImprint: Springer _c2018
300			_a1 recurso en línea (XXV, 159 páginas 76 ilustraciones, 70 ilustraciones a color)
336			_2rdacontent _aTexto (visual) _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_atext file _bPDF _2rda
490	0		_aSpringer Tracts in Advanced Robotics _x1610-7438 _v122
490	0		_aEngineering (Springer-11647)
505	0		_aIntroduction -- Background -- Literature Review -- Experimental Setup -- Loop Closure Detection using Local Features and KD-Trees -- Loop Closure Detection using Incremental Bags of Binary Words -- Hierarchical Loop Closure Detection for Topological Mapping -- Fast Image Mosaicking using Incremental Bags of Binary Words -- Conclusions and Future Work.
520			_aMapping 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 visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed. Then, these methods are used in three novel topological mapping algorithms. The results obtained indicate that the solutions proposed attain a better performance than several state-of-the-art approaches. To conclude, given that loop closure detection is also a key component in other research areas, a multi-threaded image mosaicing algorithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in order to find overlapping pairs between images and finally obtain seamless mosaics of different environments in a reasonable amount of time.
650		7	_aRobots móviles _9160722 _2embne
650		7	_aInteligencia artificial _2embne _9413115
700	1		_aOrtiz, Alberto _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/nr2006017626 _1http://viaf.org/viaf/41802951
776	0	8	_iPrinted edition: _z9783319759920
776	0	8	_iPrinted edition: _z9783319759944
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-319-75993-7 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
998			_b05/2019 _dz _ea _feng _ggw _h0