Centro de Documentacion de Fundación MAPFRE - Topological place recognition for life-long visual localization

MAP20170032113

Topological place recognition for life-long visual localization [Tesis doctoral] / thesis presented by Roberto Arroyo Contera. — Alcalá de Henares : Universidad de Alcalá de Henares, 2017

Program in Electronics: Advanced Electronic Systems. Intelligent Systems
Advisor Dr. Luis Miguel Bergasa Pascual and co-advisor Dr. Pablo Fernández Alcantarilla

Sumario: 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

1. Vehículos autónomos . 2. Localización visual . 3. Topografía . 4. GPS . 5. Sistemas de medición . 6. Tesis doctorales . I. Bergasa Pascual, Luis Miguel . II. Fernández Alcantarilla, Pablo . III. Universidad de Alcalá de Henares .