Superpixel Description and Indexing for Visual Loop Closure Detection
| Autor: | Adel Ghazel, Ferdaous Chaabane, Alberto Ortiz, Rihem El Euch, Emilio Garcia-Fidalgo |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Search engine indexing Process (computing) Context (language use) 02 engineering and technology Image segmentation appearance-based loop closure super-pixels Visualization 020901 industrial engineering & automation Histogram 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence Noise (video) business |
| Zdroj: | 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) ETFA |
| DOI: | 10.1109/etfa.2019.8869091 |
| Popis: | Recognizing whether the current place has been visited before or not is an important task in robotic navigation, since it helps to reduce the inconsistencies produced by the inherent noise of navigation sensors. When a camera is used as input for navigation, this process is known as visual loop closure detection. Under this context, in this work we propose a loop closure detection method based on superpixels and a Bag of Words scheme. A novel image description method for superpixels is proposed. Our approach also makes use of the concept of dynamic islands, which allows us to group images close in time and to avoid images taken from the same place to compete among them as loop closure candidates. The proposed method is validated using several outdoor public image sequences and compared to other state-of-the-art solutions. This is a preprint version of publication with DOI: https://doi.org/10.1109/ETFA.2019.8869091. This work is also supported by projects PGC2018-095709-B-C21 (MCIU/AEI/FEDER, UE) and PROCOE/4/2017 (Govern Balear, 50% P.O. FEDER 2014-2020 Illes Balears), and by the ERASMUS+ KA107 mobility program. |
| Databáze: | OpenAIRE |
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