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Erschienen in:
Reflection Symmetry Detection via Appearance of Structure Descriptor Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

A Simple Hierarchical Pooling Data Structure for Loop Closure

verfasst von : Xiaohan Fei, Konstantine Tsotsos, Stefano Soatto

Erschienen in: Computer Vision – ECCV 2016

Verlag: Springer International Publishing

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Abstract

We propose a data structure obtained by hierarchically pooling Bag-of-Words (BoW) descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications ranging from 2 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with minimal loss of performance.

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Vorheriges Kapitel The Unreasonable Effectiveness of Noisy Data for Fine-Grained Recognition
Nächstes Kapitel A Versatile Approach for Solving PnP, PnPf, and PnPfr Problems
Fußnoten
1
Time-cost rate is defined as the increase of query time per thousand (1 k) images in the database. Average time-cost rate is the average of time-cost rates computed for all sequences in each dataset.
 
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Metadaten
Titel
A Simple Hierarchical Pooling Data Structure for Loop Closure
verfasst von
Xiaohan Fei
Konstantine Tsotsos
Stefano Soatto
Copyright-Jahr
2016
Buch
Computer Vision – ECCV 2016

Print ISBN: 978-3-319-46486-2

Electronic ISBN: 978-3-319-46487-9

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-46487-9_20