DisPlace: 複数参照を用いた視覚的位置認識のための識別的場所射影
DisPlace: Discriminative Place Projections for Multi-Reference Visual Place Recognition
複数の参照走行から得た記述子を融合して、場所の識別性を高めつつ環境変化による変動を抑える新しい視覚的位置認識手法を提案した。
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著者: Dhyey Manish Rajani, Michael Milford, Tobias Fischer
分類: cs.CV, cs.RO
原文アブストラクト
A key challenge in Visual Place Recognition (VPR) is matching query images against reference maps captured under diverse environmental conditions and viewpoints. While multiple reference traversals improve robustness, existing fusion strategies either aggregate references uniformly or rely on heuristic selection, without distinguishing descriptor variations that preserve stable place identity from those caused by changing conditions or viewpoints. In this paper, we propose DisPlace, a multi-reference VPR framework that fuses multiple reference descriptors into a single compact and discriminative place representation. DisPlace formulates descriptor fusion as a generalized eigenvalue problem that maximizes between-place separability while suppressing within-place variation across references, rather than preserving overall descriptor variance. Unlike existing multi-reference fusion methods, DisPlace exploits variation across reference traversals to identify which linear combinations of descriptor dimensions preserve place identity and which capture condition- or viewpoint-specific variation. We evaluate DisPlace on Oxford RobotCar, Nordland, Pittsburgh30k, and Google Landmarks v2 across six state-of-the-art VPR descriptors. DisPlace outperforms seven multi-reference baselines in 49 out of 54 appearance-varying conditions, consistently improves descriptor-level fusion performance under viewpoint and unstructured settings, and requires less storage during inference than all compared fusion methods.
