Show simple item record

dc.contributor.authorArroyo Contera, Roberto 
dc.contributor.authorFernández Alcantarilla, Pablo 
dc.contributor.authorBergasa Pascual, Luis Miguel 
dc.contributor.authorRomera Carmena, Eduardo 
dc.date.accessioned2020-06-17T09:54:37Z
dc.date.available2020-06-17T09:54:37Z
dc.date.issued2018-03-20
dc.identifier.bibliographicCitationArroyo, R., Alcantarilla, P.F., Bergasa, L.M. & Romera, E. 2018, “Are you ABLE to perform a life-long visual topological localization?”, Autonomous Robots, vol. 42, no. 3, pp. 665-685
dc.identifier.issn0929-5593
dc.identifier.urihttp://hdl.handle.net/10017/43268
dc.description.abstractVisual topological localization is a process typically required by varied mobile autonomous robots, but it is a complex task if long operating periods are considered. This is because of the appearance variations suffered in a place: dynamic elements, illumination or weather. Due to these problems, long-term visual place recognition across seasons has become a challenge for the robotics community. For this reason, we propose an innovative method for a robust and efficient life-long localization using cameras. In this paper, we describe our approach (ABLE), which includes three different versions depending on the type of images: monocular, stereo and panoramic. This distinction makes our proposal more adaptable and effective, because it allows to exploit the extra information that can be provided by each type of camera. Besides, we contribute a novel methodology for identifying places, which is based on a fast matching of global binary descriptors extracted from sequences of images. The presented results demonstrate the benefits of using ABLE, which is compared to the most representative state-of-the-art algorithms in long-term conditions.en
dc.description.sponsorshipMinisterio de Economía y Competitividades_ES
dc.description.sponsorshipComunidad de Madrides_ES
dc.format.mimetypeapplication/pdfen
dc.language.isoengen
dc.publisherSpringer Nature
dc.rights© 2018 Springer Nature
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectLocalization across seasonsen
dc.subjectVisual place recognitionen
dc.subjectLoop closure detectionen
dc.subjectImage matchingen
dc.subjectBinary descriptorsen
dc.titleAre you ABLE to perform a life-long visual topological localization?en
dc.typeinfo:eu-repo/semantics/articleen
dc.subject.ecienciaElectrónicaes_ES
dc.subject.ecienciaElectronicsen
dc.contributor.affiliationUniversidad de Alcalá. Departamento de Electrónicaes_ES
dc.relation.publisherversionhttps://doi.org/10.1007/s10514-017-9664-7
dc.type.versioninfo:eu-repo/semantics/acceptedVersionen
dc.identifier.doi10.1007/s10514-017-9664-7
dc.relation.projectIDinfo:eu-repo/grantAgreement/MINECO//TRA2015-70501-C2-1-R/ES/VEHICULO INTELIGENTE PARA PERSONAS MAYORES/en
dc.relation.projectIDinfo:eu-repo/grantAgreement/CAM//S2013%2FMIT-2748/ES/ROBOTICA APLICADA A LA MEJORA DE LA CALIDAD DE VIDA DE LOS CIUDADANOS, FASE III/RoboCity2030-III-CMen
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessen
dc.identifier.publicationtitleAutonomous Robots
dc.identifier.publicationvolume42
dc.identifier.publicationlastpage685
dc.identifier.publicationissue3
dc.identifier.publicationfirstpage665


Files in this item

Thumbnail

This item appears in the following Collection(s)

© 2018 Springer Nature
Este ítem está sujeto a una licencia Creative Commons.