Hierarchical Loop Closure Detection for Topological Mapping

  • Emilio Garcia-Fidalgo
  • Alberto Ortiz
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 122)


This chapter describes a novel appearance-based approach for topological mapping called HTMap (Hierarchical Topological Mapping), which is based on a hierarchical decomposition of the environment. Images with similar appearances are grouped together in locations, taking as a representative of the group the average of the PHOG global descriptors of the represented images, as well as the set of their local features, which are indexed by means of OBIndex (which handles them as explained in the previous chapter). As a main innovation, the algorithm proposes a two-level approach to detect loop candidates: first, the global descriptor of the current image is used to determine the most similar location of the map; next, local image features are employed to determine the most likely image within that location.


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© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Mathematics and Computer ScienceUniversity of the Balearic IslandsPalma de MallorcaSpain

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