Long-Term Loop Closure Detection through Visual-Spatial Information Preserving Multi-Order Graph Matching

Topology Preserving Graph Matching

We describe an algorithm for graph matching which preserves global topological structure using an homology preserving graph matching. We show that for simplicial homology, graph matching is equivalent to finding an optimal simplicial chain map, which can be posed as a linear program satisfying boundary commutativity, simplex face intersection and assignment constraints. The homology preserving ...

Order-preserving matching

We introduce a new string matching problem called order-preserving matching on numeric strings where a pattern matches a text if the text contains a substring whose relative orders coincide with those of the pattern. Order-preserving matching is applicable to many scenarios such as stock price analysis and musical melody matching in which the order relations should be matched instead of the str...

Preserving information long-term: digital archiving

A panel discussion regarding digital archiving efforts by the U.S. Library of Congress (LC). In December 2000 Congress authorized LC to develop and execute a plan for a National Digital Information Infrastructure and Preservation Program (NDIIPP). LC developed a plan, in collaboration with other federal and nonfederal entities, to build a national network of organizations with responsibilities ...

Loop closure detection in SLAM by combining visual and spatial appearance

Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM

In this paper we describe a system for use on a mobile robot that detects potential loop closures using both the visual and spatial appearance of the local scene. Loop closing is the act of correctly asserting that a vehicle has returned to a previously visited location. It is an important component in the search to make SLAM (Simultaneous Localization and Mapping) the reliable technology it sh...