Visual place recognition for unmanned vehicles in city-scale challenging environments

• Main Author: Peng, Guohao
• Other Authors: Wang Dan Wei
• Format: Thesis-Doctor of Philosophy
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering::Computer hardware, software and systems; Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
• Online Access: https://hdl.handle.net/10356/165647
• Institution: Nanyang Technological University

Large-scale visual place recognition (VPR) involves retrieving reference images that depict the same location of the given query image. It can be applied to loop closure detection within Simultaneous Locations and Mapping (SLAM) for robot systems. With the rapid development of mobile robots, long-te...