Localizing Discriminative Visual Landmarks for Place Recognition | |
Xin, Zhe1,2![]() ![]() ![]() ![]() ![]() ![]() ![]() | |
2019 | |
会议名称 | 2019 International Conference on Robotics and Automation (ICRA) |
会议日期 | May 20-24, 2019 |
会议地点 | Palais des congres de Montreal, Montreal, Canada |
摘要 | We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also distinguishable to different places. Taking advantage of the feature extraction ability of Convolutional Neural Networks (CNNs), we further investigate how to localize discriminative visual landmarks that positively contribute to the similarity measurement, such as buildings and vegetations. In particular, a Landmark Localization Network (LLN) is designed to indicate which regions of an image are used for discrimination. Detailed experiments are conducted on open source datasets with varied appearance and viewpoint changes. The proposed approach achieves superior performance against state-of-the-art methods. |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 目标检测、跟踪与识别 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39239 |
专题 | 综合信息系统研究中心_视知觉融合及其应用 |
通讯作者 | Zhang, Jixiang |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.University of Chinese Academy of Sciences, Beijing, China 3.UISEE Technologies Beijing Co., Ltd |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xin, Zhe,Cai, Yinghao,Lu, Tao,et al. Localizing Discriminative Visual Landmarks for Place Recognition[C],2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
08794383.pdf(274KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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