关于使用二进制特征描述符进行闭环检测

E. Garcia-Fidalgo, A. Ortiz
{"title":"关于使用二进制特征描述符进行闭环检测","authors":"E. Garcia-Fidalgo, A. Ortiz","doi":"10.1109/ETFA.2014.7005121","DOIUrl":null,"url":null,"abstract":"We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an inverted index, enable us to obtain loop closure candidates in an online manner. These structures are used in a discrete Bayes filter to select final loop candidates and to ensure temporal coherency between predictions. Our approach is validated using two publicly available datasets of outdoor environments and compared with the state-of-the-art FAB-MAP algorithm, showing very promising results and demonstrating that binary features can be used for visual loop closure detection.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"25","resultStr":"{\"title\":\"On the use of binary feature descriptors for loop closure detection\",\"authors\":\"E. Garcia-Fidalgo, A. Ortiz\",\"doi\":\"10.1109/ETFA.2014.7005121\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an inverted index, enable us to obtain loop closure candidates in an online manner. These structures are used in a discrete Bayes filter to select final loop candidates and to ensure temporal coherency between predictions. Our approach is validated using two publicly available datasets of outdoor environments and compared with the state-of-the-art FAB-MAP algorithm, showing very promising results and demonstrating that binary features can be used for visual loop closure detection.\",\"PeriodicalId\":20477,\"journal\":{\"name\":\"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"25\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ETFA.2014.7005121\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETFA.2014.7005121","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 25

摘要

我们提出了一种基于二进制特征和Bag-of-Words方案的基于外观的闭环检测算法。与其他离线构建可视化字典的方法不同,我们引入了二进制特征的索引方法,该方法与倒排索引相结合,使我们能够以在线方式获得循环闭包候选。这些结构用于离散贝叶斯滤波器,以选择最终的候选环路,并确保预测之间的时间一致性。我们的方法使用两个公开可用的室外环境数据集进行验证,并与最先进的FAB-MAP算法进行比较,显示出非常有希望的结果,并证明二元特征可用于视觉环路闭合检测。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
On the use of binary feature descriptors for loop closure detection
We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an inverted index, enable us to obtain loop closure candidates in an online manner. These structures are used in a discrete Bayes filter to select final loop candidates and to ensure temporal coherency between predictions. Our approach is validated using two publicly available datasets of outdoor environments and compared with the state-of-the-art FAB-MAP algorithm, showing very promising results and demonstrating that binary features can be used for visual loop closure detection.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信