Closing Loops Without Places
This paper proposes a new topo-metric representation of the world based on co-visibility that simplifies data association and improves the performance of appearance-based recognition. We introduce the concept of dynamic bag-of-words, which is a novel form of query expansion based on finding cliques...
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| פורמט: | Conference item |
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2010
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| סיכום: | This paper proposes a new topo-metric representation of the world based on co-visibility that simplifies data association and improves the performance of appearance-based recognition. We introduce the concept of dynamic bag-of-words, which is a novel form of query expansion based on finding cliques in the landmark co-visibility graph. The proposed approach avoids the - often arbitrary - discretisation of space from the robot's trajectory that is common to most image-based loop closure algorithms. Instead we show that reasoning on sets of co-visible landmarks leads to a simple model that out-performs pose-based or view-based approaches. Using real and simulated imagery, we demonstrate that dynamic bag-of-words query expansion can improve precision and recall for appearance-based localisation. ©2010 IEEE. |
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