Methods for Appearance-based Loop Closure Detection

<div>Addresses the vision-based loop closure detection problem from different points of view</div><div><br></div><div>Deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques</div><div><br></div><div>Proposes a Bag of Binary Words (BoBW) approach which generates the dictionary online avoiding the classical training step and this scheme is used to efficiently detect loop closures in the image stream</div><div><br></div>