視覚的場所認識arXiv:1811.03032
軽量CNNによる視点・見た目変化に頑健な視覚的場所認識
A Holistic Visual Place Recognition Approach using Lightweight CNNs for Significant ViewPoint and Appearance Changes
軽量な畳み込みニューラルネットワークを用いて、大きな視点変化や見た目の変化があっても高精度かつ低計算コストで場所を認識する手法を提案した論文。
著者: Ahmad Khaliq, Shoaib Ehsan, Zetao Chen, Michael Milford, Klaus McDonald-Maier
分類: cs.RO, cs.CV
原文アブストラクト
This paper 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 12x average speedup relative to state-of-the-art methods.
