A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes
- Journal Article
Rights / licenseCreative Commons Attribution 4.0 International
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. Show more
Journal / seriesIEEE Transactions on Robotics
Pages / Article No.
SubjectConvolutional neural network (CNN); feature encoding; robot localization; vector of locally aggregated descriptors (VLADs); visualplace recognition (VPR)
MoreShow all metadata