Analysis of Images, Social Networks and Texts 6th International Conference, AIST 2017, Moscow, Russia, July 27–29, 2017, Revised Selected Papers
This book constitutes the proceedings of the 6th International Conference on Analysis of Images, Social Networks and Texts, AIST 2017, held in Moscow, Russia, in July 2017.
The 29 full papers and 8 short papers were carefully reviewed and selected from 127 submissions. The papers are organized in topical sections on natural language processing; general topics of data analysis; analysis of images and video; optimization problems on graphs and network structures; analysis of dynamic behavior through event data; social network analysis.
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure detection, which is suitable for dense, semi-dense and feature-based vSLAM methods. We evaluate the algorithm experimentally and show that it contribute to more accurate mapping while speeding up the monocular vSLAM pipeline to the extent the latter can be used in real-time for controlling small multi-rotor vehicle (drone).