Improving recall in appearance-based visual SLAM using visual expectation
Contribuinte(s) |
Wyeth, Gordon Upcroft, Ben |
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Data(s) |
2011
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Resumo |
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 |
Formato |
application/pdf |
Identificador | |
Publicador |
Australian Robotics & Automation Association |
Relação |
http://eprints.qut.edu.au/48035/1/Milford_ImprovingRecall.pdf http://www.araa.asn.au/acra/acra2010/papers/pap123s1-file1.pdf 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. |
Direitos |
Copyright 2010 [Please consult the authors] |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #080100 ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING #Robotics #Computer vision |
Tipo |
Conference Paper |