Multi-scale bio-inspired place recognition
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Description
This paper presents a novel place recognition algorithm inspired by the recent discovery of overlapping and multi-scale spatial maps in the rodent brain. We mimic this hierarchical framework by training arrays of Support Vector Machines to recognize places at multiple spatial scales. Place match hypotheses are then cross-validated across all spatial scales, a process which combines the spatial specificity of the finest spatial map with the consensus provided by broader mapping scales. Experiments on three real-world datasets including a large robotics benchmark demonstrate that mapping over multiple scales uniformly improves place recognition performance over a single scale approach without sacrificing localization accuracy. We present analysis that illustrates how matching over multiple scales leads to better place recognition performance and discuss several promising areas for future investigation.
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ID Code: | 73412 | ||||
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Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||||
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Measurements or Duration: | 7 pages | ||||
Keywords: | Localization accuracy, Multi-scale place recognition, Robotic mapping, Robotics, Support Vector Machines | ||||
DOI: | 10.1109/ICRA.2014.6907109 | ||||
ISBN: | 978-1-4799-3685-4 | ||||
Pure ID: | 32634998 | ||||
Divisions: | Past > Institutes > Institute for Future Environments Past > QUT Faculties & Divisions > Science & Engineering Faculty Current > Research Centres > Centre for Tropical Crops and Biocommodities |
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Copyright Owner: | Consult author(s) regarding copyright matters | ||||
Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||||
Deposited On: | 24 Jul 2014 22:24 | ||||
Last Modified: | 03 Mar 2024 03:48 |
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