A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes

This article presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several benchmark datasets confirm an average boost of 13% in accu...

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Bibliographic Details
Published in:IEEE transactions on robotics 2020-04, Vol.36 (2), p.561-569
Main Authors: Khaliq, Ahmad, Ehsan, Shoaib, Chen, Zetao, Milford, Michael, McDonald-Maier, Klaus
Format: Article
Language:English
Subjects:
Convolutional neural network (CNN)
Encoding
feature encoding
Feature extraction
Image recognition
Image retrieval
Lightweight
Recognition
robot localization
Robotics
Robots
Task analysis
vector of locally aggregated descriptors (VLADs)
visual place recognition (VPR)
Visualization
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Summary:This article presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several benchmark datasets confirm an average boost of 13% in accuracy, and 12 x average speedup relative to state-of-the-art methods.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2019.2956352