Building Location Models for Visual Place Recognition

I. J. Robotic Res., Volume 35, Issue 4, 2016, Pages 334-356.

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Keywords:
Visual place recognitioncovisibility mapslocation modelsBayesian inference

Abstract:

This paper deals with the task of appearance-based mapping and place recognition. Previously, the scope of a location generally varied between either using discrete poses or loosely defined sequences of poses, facing problems related to perceptual aliasing and path invariance respectively. Here, we present a unified framework for defining...More

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