NDLI: OpenFABMAP: An open source toolbox for appearance-based loop closure detection

Content Provider	IEEE Xplore Digital Library
Author	Glover, A. Maddern, W. Warren, M. Reid, S. Milford, M. Wyeth, G.
Copyright Year	2012
Description	Author affiliation: School of Electrical Eng. and Computer Science, Queensland University of Technology, Brisbane, Australia (Glover, A.; Maddern, W.; Warren, M.; Reid, S.; Milford, M.; Wyeth, G.)
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.
Starting Page	4730
Ending Page	4735
File Size	496771
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224843
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feature extraction Visualization Probability Training data Educational institutions Simultaneous localization and mapping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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