Emilio García Fidalgo | Systems, Robotics & Vision Group

Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing

Vessel Visual Inspection: A Mosaicing Approach

Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures. Nowadays, robots are becoming more and more important regarding these inspection tasks,...

A Micro-Aerial Vehicle based on Supervised Autonomy for Vessel Visual Inspection

Seagoing vessels have to undergo regular visual inspections in order to detect the typical defective situations affecting metallic structures, such as cracks and corrosion. These inspections are currently performed by ship surveyors manually at a great cost. To make...

Vision-Based Topological Mapping and Localization by means of Local Invariant Features and Map Refinement

We propose an appearance-based approach for topological visual mapping and localization using local invariant features. To optimize running times, matchings between the current image and previously visited places are determined using an index based on a set of...

Vision-Based Topological Mapping and Localization Methods: A Survey

Topological maps model the environment as a graph, where nodes are distinctive places of the environment and edges indicate topological relationships between them. They represent an interesting alternative to the classic metric maps, due to their simplicity and...

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