An Image-to-image Loop-Closure Detection Method Based on Unsupervised Landmark Extraction

被引:0
|
作者
Sariyanidi, Evangelos [1 ]
Sencan, Onur [1 ]
Temeltas, Hakan [1 ]
机构
[1] Istanbul Tech Univ, Dept Control & Automat Engn, TR-34469 Ayazaga Istanbul, Turkey
来源
2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2012年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a dedicated approach to detect loop closures using visually salient patches. We introduce a novel, energy maximization based saliency detection technique which has been used for unsupervised landmark extraction. We explain how to learn the extracted landmarks on-the-fly and re-identify them. Furthermore, we describe the sparse location representation we use to recognize previously seen locations in order to perform reliable loop closure detection. The performance of our method has been analyzed both on an indoor and an outdoor dataset, and it has been shown that our approach achieves quite promising results on both datasets.
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页码:420 / 425
页数:6
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