Journal article

Intelligent Reference Curation for Visual Place Recognition via Bayesian Selective Fusion

Timothy L Molloy, Tobias Fischer, Michael J Milford, Girish Nair

IEEE Robotics and Automation Letters | Institute of Electrical and Electronics Engineers (IEEE) | Published : 2020

Abstract

A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting conditions. Numerous approaches based on deep-learnt image descriptors, sequence matching, domain translation, and probabilistic localization have had success in addressing this challenge, but most rely on the availability of carefully curated representative reference images of the possible places. In this paper, we propose a novel approach, dubbed Bayesian Selective Fusion, for actively selecting and fusing informative reference images to determine the best place match for a given query image. The selective element ..

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Grants

Awarded by Australian Government


Awarded by ONR MURI


Funding Acknowledgements

This letter was recommended for publication by Associate Editor M. Walter and Editor J. Civera upon evaluation of the reviewers' comments. This work was supported in part by the Australian Government under Grant AUSMURIB000001 associated with ONR MURI under Grant N00014-19-1-2571. The work of Tobias Fischer and Michael Milfordwas supported by theQueenslandUniversity of Technology (QUT) through the Centre for Robotics.