Where am I? This is one of the most critical questions that any intelligent system should
answer to decide whether it navigates to a previously visited area. This problem has long …

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has
to deal with unknown initial positioning caused by either the kidnapped robot problem or …

In appearance-based localization and mapping, loop-closure detection is the process used
to determinate if the current observation comes from a previously visited location or a new …

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 …

This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five
years, a significant number of relevant papers have contributed to this subject. Firstly, a …

Loop closure detection is the process involved when trying to find a match between the
current and a previously visited locations in SLAM. Over time, the amount of time required to …

In this paper, we propose a novel appearance-based approach for topological mapping
based on a hierarchical decomposition of the environment. In our map, images with similar …

Finding the minimum weight connected dominating set (MCDS) in an arbitrary graph is an
NP-hard problem and several heuristics and approximation methods have been proposed to …

This paper presents a sensor fusion strategy applied for Simultaneous Localization and
Mapping (SLAM) in dynamic environments. The designed approach consists of two …

Abstract Warping (Franz et al., Biological Cybernetics 79 (3), 191–202, 1998b) and 2D-
warping (Möller, Robotics and Autonomous Systems 57 (1), 87–101, 2009) are effective …