Lazy Data Association For Image Sequences Matching Under Substantial Appearance Changes

IEEE Robotics and Automation Letters

Volumn 1, Issue 1, 2016, Pages 213-220

  Vysotska, Olga ^a   Stachniss, Cyrill ^a  

^a UNIVERSITY OF BONN   (Germany)

Author keywords

Localization; place recognition; visual based navigation

Indexed keywords

HEURISTIC ALGORITHMS;

CHANGING ENVIRONMENT; IMAGE COMPARISON; LOCALIZATION; ON-LINE LOCALIZATION; OUTDOOR NAVIGATION; PLACE RECOGNITION; SEARCH HEURISTICS; SEASONAL CHANGES;

MOBILE ROBOTS;

EID: 85058585272     PISSN: None     EISSN: 23773766     Source Type: Journal    
DOI: 10.1109/LRA.2015.2512936     Document Type: Article

References (31)

1. M. Agrawal and K. Konolige, "FrameSLAM: From bundle adjustment to real-time visual mapping," IEEE Trans. Robot., vol. 24, no. 5, pp. 1066-1077, Oct. 2008.
2. H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool, "Speeded-up robust features (SURF)," Comput. Vis. Image Understand., vol. 110, no. 3, pp. 346-359, 2008.
3. M. Bennewitz, C. Stachniss, W. Burgard, and S. Behnke, "Metric localization with scale-invariant visual features using a single perspective camera," in Proc. Eur. Robot. Symp., 2006, pp. 143-157.
4. P. Biber and T. Duckett, "Dynamic maps for long-term operation of mobile service robots," in Proc. Robot. Sci. Syst., 2005, pp. 17-24.
5. Z. Chen, O. Lam, A. Jacobson, and M. Milford, "Convolutional neural network-based place recognition," in Proc. Aust. Conf. Robot. Autom., 2014.
6. W. Churchill and P. Newman, "Experience-based navigation for longterm localisation," Int. J. Robot. Res., vol. 32, no. 14, pp. 1645-1661, 2013.
7. M. Cummins and P. Newman, "Highly scalable appearance-only SLAMFAB-MAP 2.0," in Proc. Robot. Sci. Syst., 2009, pp. 1611-1626, vol. 32, no. 14.
8. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, "MonoSLAM: Real-time single camera slam," IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 5, pp. 1052-1067, Jun. 2007.
9. J. Fuentes-Pacheco, J. Ruiz-Ascencio, and J. M. Rendón-Mancha, "Visual simultaneous localization and mapping: A survey," Artif. Intell. Rev., vol. 43, no. 1, pp. 55-81, 2012.
10. P. T. Furgale and T. D. Barfoot, "Visual teach and repeat for long-range rover autonomy," Int. J. Field Robot., vol. 27, pp. 534-560, 2010.
11. A. J. Glover, W. P. Maddern, M. Milford, and G. F. Wyeth, "FAB-MAP + RatSLAM: Appearance-based slam for multiple times of day," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2010, pp. 3507-3512.
12. R. Gomez-Ojeda, M. Lopez-Antequera, N. Petkov, and J. Gonzalez-Jimenez, "Training a convolutional neural network for appearanceinvariant place recognition," arXiv preprint arXiv:1505.07428, 2015.
13. D. Hähnel, W. Burgard, B. Wegbreit, and S. Thrun, "Towards lazy data association in SLAM," in Proc. Int. Symp. Robot. Res. (ISRR), Siena, Italy, 2003, pp. 421-431.
14. E. Johns and G.-Z. Yang, "Feature co-occurrence maps: Appearancebased localisation throughout the day," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2013, pp. 3212-3218.
15. C. Linegar, W. Churchill, and P. Newman, "Work smart, not hard: Recalling relevant experiences for vast-scale but time-constrained localisation," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2015, pp. 90-97.
16. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," Int. J. Comput. Vis., vol. 60, no. 2, pp. 91-110, 2004.
17. Y. Matsumoto, M. Inaba, and H. Inoue, "Visual navigation using viewsequenced route representation," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 1996, pp. 83-88.
18. M. Milford, "Vision-based place recognition: How low can you go?" Int. J. Robot. Res., vol. 32, no. 7, pp. 766-789, 2013.
19. M. Milford and G. F. Wyeth, "SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2012, pp. 1643-1649.
20. D. Mishkin, M. Perdoch, and J. Matas, "Place recognition with WXBS retrieval," in Proc. Workshop Vis. Place Recog. Chang. Environ. (CVPR), 2015.
21. T. Naseer, M. Ruhnke, C. Stachniss, L. Spinello, and W. Burgard, "Robust visual SLAM across seasons," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 2015, pp. 2529-2535.
22. T. Naseer, L. Spinello, W. Burgard, and C. Stachniss, "Robust visual robot localization across seasons using network flows," in Proc. AAAI Conf. Artif. Intell., 2014.
23. P. Neubert, N. Sunderhauf, and P. Protzel, "Appearance change prediction for long-term navigation across seasons," in Proc. Eur. Conf. Mobile Robot. (ECMR), 2013, pp. 198-203.
24. G. Pascoe, W. Maddern, A. D. Stewart, and P. Newman, "Farlap: Fast robust localisation using appearance priors," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2015, pp. 6366-6373.
25. P. Sermanet, D. Eigen, Z. Zhang, M. Mathieu, R. Fergus, and Y. LeCun, "Overfeat: Integrated recognition, localization and detection using convolutional networks," in Int. Conf. Learn. Represent. (ICLR), 2014.
26. C. Stachniss and W. Burgard, "Mobile robot mapping and localization in non-static environments," in Proc. AAAI Conf. Artif. Intell., 2005, pp. 1324-1329.
27. E. Stumm, C. Mei, S. Lacroix, and M. Chli, "Location graphs for visual place recognition," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2015, pp. 5475-5480.
28. N. Sünderhauf et al., "Place recognition with ConvNet landmarks: Viewpoint-robust, condition-robust, training-free," in Proc. Robot. Sci. Syst., 2015.
29. C. Valgren and A. J. Lilienthal, "SIFT, SURF & seasons: Appearancebased long-term localization in outdoor environments," Robot. Auton. Syst., vol. 85, no. 2, pp. 149-156, 2010.
30. O. Vysotska, T. Naseer, L. Spinello, W. Burgard, and C. Stachniss, "Efficient and effective matching of image sequences under substantial appearance changes exploiting GPS priors," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2015, pp. 2774-2779.
31. O. Vysotska and C. Stachniss, "Lazy sequences matching under substantial appearance changes," in Proc. Workshop Visual Place Recog. Chang. Environ. IEEE Int. Conf. Robot. Autom. (ICRA), 2015.