Local and Global Descriptors for Place Recognition in Robotics
نویسنده
چکیده
The simultaneous autolocalization and mapping of the environment is one of the most pressing problems of robotics. Among the existing SLAM algorithms, place recognition is a must for several cases. As an example, in multirobot SLAM we have several individual maps created by various robots. In order to combine them into one global map we have to identify common places before merging them. In this paper, two methods that were successfully used for performing scene recognition between different images have been compared. We have considered the advantages and limitations of each method regarding our tasks.
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تاریخ انتشار 2012