Visual place recognition with repetitive structures
Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual...
| Publié dans: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 37(2015), 11 vom: 28. Nov., Seite 2346-59 |
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| Auteur principal: | |
| Autres auteurs: | , , |
| Format: | Article en ligne |
| Langue: | English |
| Publié: |
2015
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| Accès à la collection: | IEEE transactions on pattern analysis and machine intelligence |
| Sujets: | Journal Article Research Support, Non-U.S. Gov't |
| Résumé: | Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual-words representation which often leads to over-counting evidence and significant degradation of retrieval performance. In this work we show that repeated structures are not a nuisance but, when appropriately represented, they form an important distinguishing feature for many places. We describe a representation of repeated structures suitable for scalable retrieval and geometric verification. The retrieval is based on robust detection of repeated image structures and a suitable modification of weights in the bag-of-visual-word model. We also demonstrate that the explicit detection of repeated patterns is beneficial for robust visual word matching for geometric verification. Place recognition results are shown on datasets of street-level imagery from Pittsburgh and San Francisco demonstrating significant gains in recognition performance compared to the standard bag-of-visual-words baseline as well as the more recently proposed burstiness weighting and Fisher vector encoding |
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| Description: | Date Completed 04.01.2016 Date Revised 07.10.2015 published: Print Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |
| DOI: | 10.1109/TPAMI.2015.2409868 |