Towards persistent visual navigation using SMART

Pepperell, Edward, Corke, Peter, & Milford, Michael (2013) Towards persistent visual navigation using SMART. In Proceedings of Australasian Conference on Robotics and Automation, ARAA, University of New South Wales, Sydney, Australia.

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In this paper, we present SMART (Sequence Matching Across Route Traversals): a vision- based place recognition system that uses whole image matching techniques and odometry information to improve the precision-recall performance, latency and general applicability of the SeqSLAM algorithm. We evaluate the system’s performance on challenging day and night journeys over several kilometres at widely varying vehicle velocities from 0 to 60 km/h, compare performance to the current state-of- the-art SeqSLAM algorithm, and provide parameter studies that evaluate the effectiveness of each system component. Using 30-metre sequences, SMART achieves place recognition performance of 81% recall at 100% precision, outperforming SeqSLAM, and is robust to significant degradations in odometry.

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2 citations in Scopus
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120 since deposited on 23 Dec 2013
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ID Code: 65528
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Place Recognition, Localisation
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 Please consult the authors
Deposited On: 23 Dec 2013 02:13
Last Modified: 15 Apr 2014 13:51

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