Name
Abstract | ||
|---|---|---|
Recent researches on mobile robots show that convolutional neural network (CNN) has achieved impressive performance in visual place recognition especially for large-scale dynamic environment. However, CNN leads to the large space of image representation that cannot meet the real-time demand for robot navigation. Aiming at this problem, we evaluate the feature effectiveness of feature maps obtained from the layer of CNN by variance and propose a novel method that reserve salient feature maps and make adaptive binarization for them. Experimental results demonstrate the effectiveness and efficiency of our method. Compared with state of the art methods for visual place recognition, our method not only has no significant loss in precision, but also greatly reduces the space of image representation. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1587/transinf.2018EDP7175 | IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS |
Keywords | Field | DocType |
visual place recognition, CNN, variance, feature map, binarization | Feature selection,Pattern recognition,Computer science,Artificial intelligence,Salient | Journal |
Volume | Issue | ISSN |
E101D | 12 | 1745-1361 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yutian Chen | 1 | 0 | 0.34 |
| Wenyan Gan | 2 | 91 | 6.40 |
| Shanshan Jiao | 3 | 1 | 2.85 |
| Youwei Xu | 4 | 16 | 5.26 |
| Yuntian Feng | 5 | 0 | 0.68 |