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Contributions aux méthodes de détection visuelle de fermeture de boucle et de segmentation topologique de l'environnement.

Chapoulie Alexandre 1 
1 AROLAG - Advanced Image Understanding and Autonomous Systems
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In the context of global localization and, more widely, in Simultaneous Localization And Mapping, it is mandatory to be able to detect if a robot comes to a previously visited place. It is the loop closure detection problem. Algorithms, in visual place recognition, usually allow detection in real-time, are robust to perceptual aliasing or even to dynamic objects. Those algorithms are often sensitive to the robot orientation involving an impossibility to detect a loop closure from a different point of view. In order to alleviate this drawback, panoramic or omnidirectional cameras are often used. We propose a more general representation of the environment with an ego-centric spherical view. Using this representation properties, we elaborate a loop closure detection algorithm that satisfies, in addition to other properties, a robot orientation independence. The environment model is often a set of images taken at various moments, each image corresponding to a place. Existing methods cluster those images in meaning places of the environment, the topological places, using the concept of covisibility of information between places. Our approach relies on the utilization of the environment structure. We hence define a topological place as having a structure which does not change, variation leading to a place change. The structure variations are detected with an efficient change-point detection algorithm.
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Submitted on : Thursday, December 13, 2012 - 3:05:36 PM
Last modification on : Friday, February 4, 2022 - 3:15:40 AM
Long-term archiving on: : Thursday, March 14, 2013 - 3:51:07 AM


  • HAL Id : tel-00764868, version 1



Chapoulie Alexandre. Contributions aux méthodes de détection visuelle de fermeture de boucle et de segmentation topologique de l'environnement.. Traitement du signal et de l'image [eess.SP]. Université Nice Sophia Antipolis, 2012. Français. ⟨tel-00764868⟩



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