Place Recognition with WxBS Retrieval

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235504" target="_blank" >RIV/68407700:21230/15:00235504 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Place Recognition with WxBS Retrieval

Popis výsledku v původním jazyce

We present a novel visual place recognition method designed for operation in challenging conditions such as encountered in day to night or winter to summer matching. The proposed WxBS Retrieval method is novel in enriching a bag of words approach with the use of multiple detectors, descriptors with suitable visual vocabularies, view synthesis, and adaptive thresholding to compensate for large variations in contrast and richness of features in different conditions. The performance of the method evaluated on the public Visual Place Recognition in Changing Environments (VPRiCE) dataset was achieved with precision 0.689 and recall 0.798 and F1-score 0.740. The precision and F1 score are best results so far reported for VPRiCE dataset. Experiments show that the combination of retrieval and matching algorithms with detectors and descriptors insensitive to gradient reversal and contrast lead to both high accuracy and scalability.

Název v anglickém jazyce

Place Recognition with WxBS Retrieval

Popis výsledku anglicky

We present a novel visual place recognition method designed for operation in challenging conditions such as encountered in day to night or winter to summer matching. The proposed WxBS Retrieval method is novel in enriching a bag of words approach with the use of multiple detectors, descriptors with suitable visual vocabularies, view synthesis, and adaptive thresholding to compensate for large variations in contrast and richness of features in different conditions. The performance of the method evaluated on the public Visual Place Recognition in Changing Environments (VPRiCE) dataset was achieved with precision 0.689 and recall 0.798 and F1-score 0.740. The precision and F1 score are best results so far reported for VPRiCE dataset. Experiments show that the combination of retrieval and matching algorithms with detectors and descriptors insensitive to gradient reversal and contrast lead to both high accuracy and scalability.

Druh

O - Ostatní výsledky

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů