Skip to main content
Top

2019 | OriginalPaper | Chapter

Feature-Agnostic Low-Cost Place Recognition for Appearance-Based Mapping

Authors : S. M. Ali Musa Kazmi, Mahmoud A. Mohamed, Bärbel Mertsching

Published in: Computer Vision Systems

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

The agent’s ability to locate itself in an unfamiliar environment is essential for a reliable navigation. To address this challenge, place recognition methods are widely adopted. A common trend among most of these methods is that they are either tailored to work in specific environments or need prior training overhead [11]. Whereas, others demand extreme computational resources, such as CNN [8]. In this paper, we study the existing GSOM-based place recognition framework [12] and investigate the question of translating the system to other feature spaces, such as HOG, for low-cost place recognition. The experiments performed on four challenging sequences demonstrate the algorithm’s ability to learn the representation of the new feature space without parameter tuning, provided the scaling factor along each dimension of the descriptor is taken into account. This highlights the feature-agnostic characteristic of the algorithm. We further observed that despite the low dimensionality of the HOG descriptor, the algorithm shows comparable place recognition results to the gist features, while offering threefold speed-ups in execution time.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Footnotes
1
The activation frequency \(f_c^{(t)}\) is the number of times a neuron is selected to represent an arbitrary input vector \(\mathbf {\hat{x}}^{(k)}\), where \(k = 1,\dots ,t\).
 
Literature
1.
go back to reference Garcia-Fidalgo, E., Ortiz, A.: iBoW-LCD: an appearance-based loop-closure detection approach using incremental bags of binary words. IEEE Robot. Autom. Lett. 3(4), 3051–3057 (2018)CrossRef Garcia-Fidalgo, E., Ortiz, A.: iBoW-LCD: an appearance-based loop-closure detection approach using incremental bags of binary words. IEEE Robot. Autom. Lett. 3(4), 3051–3057 (2018)CrossRef
2.
go back to reference Zhang, G., Lilly, M.J., Vela, P.A.: Learning binary features online from motion dynamics for incremental loop-closure detection and place recognition. In: IEEE International Conference on Robotics and Automation, pp. 765–772 (2016) Zhang, G., Lilly, M.J., Vela, P.A.: Learning binary features online from motion dynamics for incremental loop-closure detection and place recognition. In: IEEE International Conference on Robotics and Automation, pp. 765–772 (2016)
3.
go back to reference Nicosevici, T., Garcia, R.: Automatic visual bag-of-words for online robot navigation and mapping. IEEE Trans. Robot. 28(4), 886–898 (2012)CrossRef Nicosevici, T., Garcia, R.: Automatic visual bag-of-words for online robot navigation and mapping. IEEE Trans. Robot. 28(4), 886–898 (2012)CrossRef
4.
go back to reference Kawewong, A., Tongprasit, N., Tangruamsub, S., Hasegawa, O.: Online and incremental appearance-based SLAM in highly dynamic environments. Int. J. Robot. Res. 30(1), 33–55 (2011)CrossRef Kawewong, A., Tongprasit, N., Tangruamsub, S., Hasegawa, O.: Online and incremental appearance-based SLAM in highly dynamic environments. Int. J. Robot. Res. 30(1), 33–55 (2011)CrossRef
5.
go back to reference McManus, C., Upcroft, B., Newman, P.: Learning place-dependant features for long-term vision-based localisation. Auton. Rob. 39(3), 363–387 (2015)CrossRef McManus, C., Upcroft, B., Newman, P.: Learning place-dependant features for long-term vision-based localisation. Auton. Rob. 39(3), 363–387 (2015)CrossRef
6.
go back to reference Lategahn, H., Beck, J., Kitt, B., Stiller, C.: How to learn an illumination robust image feature for place recognition. In: IEEE Intelligent Vehicles Symposium (IV), pp. 285–291 (2013) Lategahn, H., Beck, J., Kitt, B., Stiller, C.: How to learn an illumination robust image feature for place recognition. In: IEEE Intelligent Vehicles Symposium (IV), pp. 285–291 (2013)
7.
go back to reference Zhou, B., Lapedriza, A., Xiao, J., Torralba, A., Oliva, A.: Learning deep features for scene recognition using places database. In: Advances in Neural Information Processing Systems, pp. 487–495 (2014) Zhou, B., Lapedriza, A., Xiao, J., Torralba, A., Oliva, A.: Learning deep features for scene recognition using places database. In: Advances in Neural Information Processing Systems, pp. 487–495 (2014)
8.
go back to reference Chen, Z., Lam, O., Jacobson, A., Milford, M.: Convolutional neural network-based place recognition. arXiv preprint arXiv:1411.1509 (2014) Chen, Z., Lam, O., Jacobson, A., Milford, M.: Convolutional neural network-based place recognition. arXiv preprint arXiv:​1411.​1509 (2014)
9.
go back to reference Krizhevsky, A., Sutskever, I., Hinton, G.E.: ImageNet classification with deep convolutional neural networks. In: Advances in Neural Information Processing Systems, pp. 1097–1105 (2012) Krizhevsky, A., Sutskever, I., Hinton, G.E.: ImageNet classification with deep convolutional neural networks. In: Advances in Neural Information Processing Systems, pp. 1097–1105 (2012)
10.
go back to reference Sünderhauf, N., Dayoub, F., Shirazi, S., Upcroft, B., Milford, M.: On the performance of convnet features for place recognition. arXiv preprint arXiv:1501.04158 (2015) Sünderhauf, N., Dayoub, F., Shirazi, S., Upcroft, B., Milford, M.: On the performance of convnet features for place recognition. arXiv preprint arXiv:​1501.​04158 (2015)
11.
go back to reference Cummins, M., Newman, P.: Appearance-only SLAM at large scale with FAB-MAP 2.0. Int. J. Robot. Res. 30(9), 1100–1123 (2011)CrossRef Cummins, M., Newman, P.: Appearance-only SLAM at large scale with FAB-MAP 2.0. Int. J. Robot. Res. 30(9), 1100–1123 (2011)CrossRef
12.
go back to reference Kazmi, S.A.M., Mertsching, B.: Detecting the expectancy of a place using nearby context for appearance-based mapping. IEEE Trans. Robot. (2019, accepted) Kazmi, S.A.M., Mertsching, B.: Detecting the expectancy of a place using nearby context for appearance-based mapping. IEEE Trans. Robot. (2019, accepted)
13.
go back to reference Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: IEEE International Conference on Computer Vision & Pattern Recognition, vol. 1, pp. 886–893 (2005) Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: IEEE International Conference on Computer Vision & Pattern Recognition, vol. 1, pp. 886–893 (2005)
14.
go back to reference Wyeth, G., Milford, M.: Spatial cognition for robots. IEEE Robot. Autom. Mag. 16(3), 24–32 (2009)CrossRef Wyeth, G., Milford, M.: Spatial cognition for robots. IEEE Robot. Autom. Mag. 16(3), 24–32 (2009)CrossRef
15.
go back to reference Lowry, S., et al.: Visual place recognition: a survey. IEEE Trans. Robot. 32(1), 1–19 (2015)CrossRef Lowry, S., et al.: Visual place recognition: a survey. IEEE Trans. Robot. 32(1), 1–19 (2015)CrossRef
16.
go back to reference Kazmi, S.M., Mertsching, B.: Gist+RatSLAM: an incremental bio-inspired place recognition front-end for RatSLAM. In: Proceedings of the 9th EAI International Conference on Bio-inspired Information and Communications Technologies (formerly BIONETICS), pp. 27–34 (2016) Kazmi, S.M., Mertsching, B.: Gist+RatSLAM: an incremental bio-inspired place recognition front-end for RatSLAM. In: Proceedings of the 9th EAI International Conference on Bio-inspired Information and Communications Technologies (formerly BIONETICS), pp. 27–34 (2016)
17.
go back to reference Kazmi, S.A.M., Mertsching, B.: Simultaneous place learning and recognition for real-time appearance-based mapping. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4898–4903 (2016) Kazmi, S.A.M., Mertsching, B.: Simultaneous place learning and recognition for real-time appearance-based mapping. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4898–4903 (2016)
18.
go back to reference Turcot, P., Lowe, D.G.: Better matching with fewer features: the selection of useful features in large database recognition problems. In: ICCV Workshop on Emergent Issues in Large Amounts of Visual Data, vol. 4 (2009) Turcot, P., Lowe, D.G.: Better matching with fewer features: the selection of useful features in large database recognition problems. In: ICCV Workshop on Emergent Issues in Large Amounts of Visual Data, vol. 4 (2009)
19.
go back to reference Oliva, A., Torralba, A.: Modeling the shape of the scene: a holistic representation of the spatial envelope. Int. J. Comput. Vis. 42(3), 145–175 (2001)CrossRef Oliva, A., Torralba, A.: Modeling the shape of the scene: a holistic representation of the spatial envelope. Int. J. Comput. Vis. 42(3), 145–175 (2001)CrossRef
21.
go back to reference Cummins, M., Newman, P.: FAB-MAP: probabilistic localization and mapping in the space of appearance. Int. J. Robot. Res. 27(6), 647–665 (2008)CrossRef Cummins, M., Newman, P.: FAB-MAP: probabilistic localization and mapping in the space of appearance. Int. J. Robot. Res. 27(6), 647–665 (2008)CrossRef
22.
go back to reference Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? The KITTI vision benchmark suite. In: IEEE International Conference on Computer Vision and Pattern Recognition, pp. 3354–3361 (2012) Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? The KITTI vision benchmark suite. In: IEEE International Conference on Computer Vision and Pattern Recognition, pp. 3354–3361 (2012)
23.
go back to reference Blanco, J.L., Moreno, F.A., Gonzalez, J.: A collection of outdoor robotic datasets with centimeter-accuracy ground truth. Auton. Robots 27(4), 327 (2009)CrossRef Blanco, J.L., Moreno, F.A., Gonzalez, J.: A collection of outdoor robotic datasets with centimeter-accuracy ground truth. Auton. Robots 27(4), 327 (2009)CrossRef
24.
go back to reference Glover, A.J., Maddern, W.P., Milford, M.J., Wyeth, G.F.: FAB-MAP+ RatSLAM: appearance-based SLAM for multiple times of day. In: IEEE International Conference on Robotics and Automation, pp. 3507–3512 (2010) Glover, A.J., Maddern, W.P., Milford, M.J., Wyeth, G.F.: FAB-MAP+ RatSLAM: appearance-based SLAM for multiple times of day. In: IEEE International Conference on Robotics and Automation, pp. 3507–3512 (2010)
25.
go back to reference Arroyo, R., Alcantarilla, P.F., Bergasa, L.M., Yebes, J.J., Bronte, S.: Fast and effective visual place recognition using binary codes and disparity information. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3089–3094 (2014) Arroyo, R., Alcantarilla, P.F., Bergasa, L.M., Yebes, J.J., Bronte, S.: Fast and effective visual place recognition using binary codes and disparity information. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3089–3094 (2014)
26.
go back to reference Milford, M.J., Wyeth, G.F.: SeqSLAM: visual route-based navigation for sunny summer days and stormy winter nights. In: IEEE International Conference on Robotics and Automation, pp. 1643–1649 (2012) Milford, M.J., Wyeth, G.F.: SeqSLAM: visual route-based navigation for sunny summer days and stormy winter nights. In: IEEE International Conference on Robotics and Automation, pp. 1643–1649 (2012)
Metadata
Title
Feature-Agnostic Low-Cost Place Recognition for Appearance-Based Mapping
Authors
S. M. Ali Musa Kazmi
Mahmoud A. Mohamed
Bärbel Mertsching
Copyright Year
2019
DOI
https://doi.org/10.1007/978-3-030-34995-0_5

Premium Partner