視覚的場所認識における新興トレンドと研究機会の探求
Exploring Emerging Trends and Research Opportunities in Visual Place Recognition
ロボットの自己位置推定やSLAMで重要となる視覚的場所認識について、Vision-Languageモデルなど最近の研究動向と今後の機会を概観したサーベイ。
著者: Antonios Gasteratos, Konstantinos A. Tsintotas, Tobias Fischer, Yiannis Aloimonos, Michael Milford
分類: cs.CV, cs.RO
原文アブストラクト
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for complex navigation tasks, visual place recognition is vital for most localization implementations or re-localization and loop closure detection pipelines within simultaneous localization and mapping (SLAM). More specifically, it corresponds to the system's ability to identify and match a previously visited location using computer vision tools. Towards developing novel techniques with enhanced accuracy and robustness, while motivated by the success presented in natural language processing methods, researchers have recently turned their attention to vision-language models, which integrate visual and textual data.
