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A Holistic Visual Place Recognition Approach using Lightweight CNNs for Significant ViewPoint and Appearance Changes
November 07, 2018 Β· Declared Dead Β· π IEEE Transactions on robotics
"No code URL or promise found in abstract"
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Authors
Ahmad Khaliq, Shoaib Ehsan, Zetao Chen, Michael Milford, Klaus McDonald-Maier
arXiv ID
1811.03032
Category
cs.RO: Robotics
Cross-listed
cs.CV
Citations
146
Venue
IEEE Transactions on robotics
Last Checked
4 months ago
Abstract
This paper 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.
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