A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes
A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes
his 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 12x average speedup relative to state-of-the-art methods.
Convolutional neural network (CNN), feature encoding, robot localization, vector of locally aggregated descriptors (VLADs), visual place recognition (VPR)
561-569
Khaliq, Ahmad
d307e38a-904f-4a24-9071-004e3b9bfeca
Ehsan, Shoaib
ae8922f0-dbe0-4b22-8474-98e84d852de7
Chen, Zetao
6ce5c79e-79d4-455b-85e6-7be7a84de284
Milford, Michael
9edf5ef3-4a6a-4d05-aec2-6146c00cd407
McDonald-Maier, Klaus
4429a771-384b-4cc6-8d45-1813c3792939
27 December 2019
Khaliq, Ahmad
d307e38a-904f-4a24-9071-004e3b9bfeca
Ehsan, Shoaib
ae8922f0-dbe0-4b22-8474-98e84d852de7
Chen, Zetao
6ce5c79e-79d4-455b-85e6-7be7a84de284
Milford, Michael
9edf5ef3-4a6a-4d05-aec2-6146c00cd407
McDonald-Maier, Klaus
4429a771-384b-4cc6-8d45-1813c3792939
Khaliq, Ahmad, Ehsan, Shoaib, Chen, Zetao, Milford, Michael and McDonald-Maier, Klaus
(2019)
A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes.
IEEE Transactions on Robotics, 36 (2), .
(doi:10.1109/TRO.2019.2956352).
Abstract
his 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 12x average speedup relative to state-of-the-art methods.
This record has no associated files available for download.
More information
Published date: 27 December 2019
Keywords:
Convolutional neural network (CNN), feature encoding, robot localization, vector of locally aggregated descriptors (VLADs), visual place recognition (VPR)
Identifiers
Local EPrints ID: 478921
URI: http://eprints.soton.ac.uk/id/eprint/478921
ISSN: 1552-3098
PURE UUID: a09f2dc0-31a5-4280-b645-42f297ba9ace
Catalogue record
Date deposited: 13 Jul 2023 16:52
Last modified: 17 Mar 2024 04:16
Export record
Altmetrics
Contributors
Author:
Ahmad Khaliq
Author:
Shoaib Ehsan
Author:
Zetao Chen
Author:
Michael Milford
Author:
Klaus McDonald-Maier
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics