On Model-Free Re-ranking for Visual Place Recognition with Deep Learned Local Features

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376777" target="_blank" >RIV/68407700:21230/24:00376777 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/24:00376777
Result on the web
<a href="https://doi.org/10.1109/TIV.2024.3404564" target="_blank" >https://doi.org/10.1109/TIV.2024.3404564</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TIV.2024.3404564" target="_blank" >10.1109/TIV.2024.3404564</a>

Result language
angličtina
Original language name
On Model-Free Re-ranking for Visual Place Recognition with Deep Learned Local Features
Original language description
Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial comparison of corresponding local visual features, eliminating the need for computationally expensive estimation of a model describing transformation between images. The article focuses on model-free re-ranking based on standard local visual features and their applicability in long-term autonomy systems. It introduces three new model-free re-ranking methods that were designed primarily for deep-learned local visual features. These features evince high robustness to various appearance changes, which stands as a crucial property for use with long-term autonomy systems. All the introduced methods were employed in a new visual place recognition system together with the D2-net feature detector (Dusmanu, 2019) and experimentally tested with diverse, challenging public datasets. The obtained results are on par with current state-of-the-art methods, affirming that model-free approaches are a viable and worthwhile path for long-term visual place recognition.
Czech name
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Czech description
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Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotics and advanced industrial production</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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