Log In Sign Up

Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choices

by   Mihnea-Alexandru Tomită, et al.

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes. An emerging trend in VPR is the use of sequence-based filtering methods on top of single-frame-based place matching techniques for route-based navigation. The combination leads to varying levels of potential place matching performance boosts at increased computational costs. This raises a number of interesting research questions: How does performance boost (due to sequential filtering) vary along the entire spectrum of single-frame-based matching methods? How does sequence matching length affect the performance curve? Which specific combinations provide a good trade-off between performance and computation? However, there is lack of previous work looking at these important questions and most of the sequence-based filtering work to date has been used without a systematic approach. To bridge this research gap, this paper conducts an in-depth investigation of the relationship between the performance of single-frame-based place matching techniques and the use of sequence-based filtering on top of those methods. It analyzes individual trade-offs, properties and limitations for different combinations of single-frame-based and sequential techniques. A number of state-of-the-art VPR methods and widely used public datasets are utilized to present the findings that contain a number of meaningful insights for the VPR community.


page 1

page 2


DeepSeqSLAM: A Trainable CNN+RNN for Joint Global Description and Sequence-based Place Recognition

Sequence-based place recognition methods for all-weather navigation are ...

Sequential Place Learning: Heuristic-Free High-Performance Long-Term Place Recognition

Sequential matching using hand-crafted heuristics has been standard prac...

A Benchmark Comparison of Visual Place Recognition Techniques for Resource-Constrained Embedded Platforms

Visual Place Recognition (VPR) has been a subject of significant researc...

Improving Visual Place Recognition Performance by Maximising Complementarity

Visual place recognition (VPR) is the problem of recognising a previousl...