A Novel Image Descriptor with Aggregated Semantic Skeleton Representation for Long-term Visual Place Recognition

02/08/2022
by   Nie Jiwei, et al.
0

In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential images through matching specific scene-descriptors. In urban scenes, the appearance variation caused by seasons and illumination has brought great challenges to the robustness of scene descriptors. Semantic segmentation images can not only deliver the shape information of objects but also their categories and spatial relations that will not be affected by the appearance variation of the scene. Innovated by the Vector of Locally Aggregated Descriptor (VLAD), in this paper, we propose a novel image descriptor with aggregated semantic skeleton representation (SSR), dubbed SSR-VLAD, for the VPR under drastic appearance-variation of environments. The SSR-VLAD of one image aggregates the semantic skeleton features of each category and encodes the spatial-temporal distribution information of the image semantic information. We conduct a series of experiments on three public datasets of challenging urban scenes. Compared with four state-of-the-art VPR methods- CoHOG, NetVLAD, LOST-X, and Region-VLAD, VPR by matching SSR-VLAD outperforms those methods and maintains competitive real-time performance at the same time.

READ FULL TEXT

page 1

page 8

research
10/28/2019

Image-Based Place Recognition on Bucolic Environment Across Seasons From Semantic Edge Description

Most of the research effort on image-based place recognition is designed...
research
12/27/2021

Visual Place Representation and Recognition from Depth Images

This work proposes a new method for place recognition based on the scene...
research
04/16/2018

LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics

Human visual scene understanding is so remarkable that we are able to re...
research
10/19/2019

CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks

Using multiple robots for exploring and mapping environments can provide...
research
09/28/2021

Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments

Place recognition is a key module in robotic navigation. The existing li...
research
05/27/2022

Learning Instance Representation Banks for Aerial Scene Classification

Aerial scenes are more complicated in terms of object distribution and s...
research
07/01/2015

Polarimetric Hierarchical Semantic Model and Scattering Mechanism Based PolSAR Image Classification

For polarimetric SAR (PolSAR) image classification, it is a challenge to...

Please sign up or login with your details

Forgot password? Click here to reset