Topological place recognition for life-long visual localization

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Advisor Dr. Luis Miguel Bergasa Pascual and co-advisor Dr. Pablo Fernández Alcantarilla</subfield>
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      <subfield code="a">Introduction: challenges in life-long visual localization -- Computer Vision applied to Autonomous Vehicles and Robots Localization -- Visual Place Recognition based on Hand-Crafted Features -- Visual Place Recognition based on Learned Features -- Visual Place Recognition based on Hand-Crafted Binary Features -- Visual Place Recognition based on Learned CNN Features -- Life-Long Visual Localization using Topological Place Recognition -- Final Conclusions and Future Works -- Bibliography -- Annex: OpenABLE: An Open-source Toolbox for Life-Long Visual Localization; Ground-truth for Loop Closure in the KITTI Odometry Dataset</subfield>
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