Improving recall in appearance-based visual SLAM using visual expectation

Milford, Michael & Wyeth, Gordon (2011) Improving recall in appearance-based visual SLAM using visual expectation. In Wyeth, Gordon & Upcroft, Ben (Eds.) ACRA 2011 Proceedings, Australian Robotics & Automation Association, Brisbane, QLD.

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In this paper, we present a new algorithm for boosting visual template recall performance through a process of visual expectation. Visual expectation dynamically modifies the recognition thresholds of learnt visual templates based on recently matched templates, improving the recall of sequences of familiar places while keeping precision high, without any feedback from a mapping backend. We demonstrate the performance benefits of visual expectation using two 17 kilometer datasets gathered in an outdoor environment at two times separated by three weeks. The visual expectation algorithm provides up to a 100% improvement in recall. We also combine the visual expectation algorithm with the RatSLAM SLAM system and show how the algorithm enables successful mapping

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ID Code: 48035
Item Type: Conference Paper
Refereed: Yes
Keywords: Robotics, Computer vision
ISBN: 9780980740417
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 [Please consult the authors]
Deposited On: 12 Jan 2012 23:07
Last Modified: 01 Mar 2012 04:07

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