Methods for Appearance-based Loop Closure Detection. Applications to Topological Mapping and Image Mosaicking

Abstract

[eng] This chapter serves as an introduction to this book. In the first section, we briefly consider some basic concepts from the robotics field, such as navigation, mapping, localization and SLAM. We also comment on the concept of appearancebased loop closure detection and discuss its importance formapping and localization tasks. Themain contributions are outlined next, once the scope of the book has already been stated.