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Shape from Silhouette (SFS) are methods used to estimate the 3D shape of objects from their silhouettes. The reconstructed shape, also called Visual Hull (VH), is the maximum volume which yields the silhouettes. As this volume is an upper bound, it contains objects and artifacts. Ghost connected components coming from artifacts are parts empty of real object. They provide non-pertinent data that interfere...
Visual localization and mapping for mobile robots has been achieved with a large variety of methods. Among them, topological navigation using vision has the advantage of offering a scalable representation, and of relying on a common and affordable sensor. In previous work, we developed such an incremental and real-time topological mapping and localization solution, without using any metrical information,...
In robotics, appearance-based topological map building consists in infering the topology of the environment explored by a robot from its sensor measurements. In this paper, we propose a vision-based framework that considers this data association problem from a loop-closure detection perspective in order to correctly assign each measurement to its location. Our approach relies on the visual bag of...
In robotic applications of visual simultaneous localization and mapping techniques, loop-closure detection and global localization are two issues that require the capacity to recognize a previously visited place from current camera measurements. We present an online method that makes it possible to detect when an image comes from an already perceived scene using local shape and color information....
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