DocumentCode :
2411073
Title :
OpenFABMAP: An open source toolbox for appearance-based loop closure detection
Author :
Glover, Arren ; Maddern, William ; Warren, Michael ; Reid, Stephanie ; Milford, Michael ; Wyeth, Gordon
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Queensland Univ. of Technol., Brisbane, QLD, Australia
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
4730
Lastpage :
4735
Abstract :
Appearance-based loop closure techniques, which leverage the high information content of visual images and can be used independently of pose, are now widely used in robotic applications. The current state-of-the-art in the field is Fast Appearance-Based Mapping (FAB-MAP) having been demonstrated in several seminal robotic mapping experiments. In this paper, we describe OpenFABMAP, a fully open source implementation of the original FAB-MAP algorithm. Beyond the benefits of full user access to the source code, OpenFABMAP provides a number of configurable options including rapid codebook training and interest point feature tuning. We demonstrate the performance of OpenFABMAP on a number of published datasets and demonstrate the advantages of quick algorithm customisation. We present results from OpenFABMAP´s application in a highly varied range of robotics research scenarios.
Keywords :
image retrieval; pose estimation; public domain software; robot vision; FAB-MAP algorithm; OpenFABMAP application; appearance-based loop closure detection; codebook training; fast appearance-based mapping; high information content; interest point feature tuning; open source implementation; open source toolbox; quick algorithm customisation; robotic applications; seminal robotic mapping experiments; source code; visual images; Educational institutions; Feature extraction; Probability; Simultaneous localization and mapping; Training data; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224843
Filename :
6224843
Link To Document :
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