An Image-to-image Loop-Closure Detection Method Based on Unsupervised Landmark Extraction

被引:0
|
作者
Sariyanidi, Evangelos [1 ]
Sencan, Onur [1 ]
Temeltas, Hakan [1 ]
机构
[1] Istanbul Tech Univ, Dept Control & Automat Engn, TR-34469 Ayazaga Istanbul, Turkey
来源
2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2012年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a dedicated approach to detect loop closures using visually salient patches. We introduce a novel, energy maximization based saliency detection technique which has been used for unsupervised landmark extraction. We explain how to learn the extracted landmarks on-the-fly and re-identify them. Furthermore, we describe the sparse location representation we use to recognize previously seen locations in order to perform reliable loop closure detection. The performance of our method has been analyzed both on an indoor and an outdoor dataset, and it has been shown that our approach achieves quite promising results on both datasets.
引用
收藏
页码:420 / 425
页数:6
相关论文
共 50 条
  • [31] Improving Shape Deformation in Unsupervised Image-to-Image Translation
    Gokaslan, Aaron
    Ramanujan, Vivek
    Ritchie, Daniel
    Kim, Kwang In
    Tompkin, James
    COMPUTER VISION - ECCV 2018, PT XII, 2018, 11216 : 662 - 678
  • [32] Memory-guided Unsupervised Image-to-image Translation
    Jeong, Somi
    Kim, Youngjung
    Lee, Eungbean
    Sohn, Kwanghoon
    2021 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, CVPR 2021, 2021, : 6554 - 6563
  • [33] Unsupervised Attention-guided Image-to-Image Translation
    Mejjati, Youssef A.
    Richardt, Christian
    Tompkin, James
    Cosker, Darren
    Kim, Kwang In
    ADVANCES IN NEURAL INFORMATION PROCESSING SYSTEMS 31 (NIPS 2018), 2018, 31
  • [34] Loop-closure detection algorithm based on point cloud histogram and vehicle positioning method
    Li S.-T.
    Li J.-L.
    Meng Q.-Y.
    Guo H.-Y.
    Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2023, 53 (08): : 2395 - 2403
  • [35] Perceptual Contrastive Generative Adversarial Network based on image warping for unsupervised image-to-image translation
    Huang, Lin-Chieh
    Tsai, Hung-Hsu
    NEURAL NETWORKS, 2023, 166 : 313 - 325
  • [36] Facial Feature Based Image-to-Image Translation Method
    Kang, Shinjin
    KSII TRANSACTIONS ON INTERNET AND INFORMATION SYSTEMS, 2020, 14 (12): : 4835 - 4848
  • [37] A Survey of Loop-Closure Detection Method of Visual SLAM in Complex Environments
    Liu Q.
    Duan F.
    Sang Y.
    Zhao J.
    Jiqiren/Robot, 2019, 41 (01): : 112 - 123and136
  • [38] Invariant Spatial Information for Loop-Closure Detection
    Ryohei, Yamamoto
    Kanji, Tanaka
    Koji, Takeda
    PROCEEDINGS OF MVA 2019 16TH INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS (MVA), 2019,
  • [39] Unsupervised Image-to-Image Translation with Self-Attention Networks
    Kang, Taewon
    Lee, Kwang Hee
    2020 IEEE INTERNATIONAL CONFERENCE ON BIG DATA AND SMART COMPUTING (BIGCOMP 2020), 2020, : 102 - 108
  • [40] SUNIT: multimodal unsupervised image-to-image translation with shared encoder
    Lin, Liyuan
    Ji, Shulin
    Zhou, Yuan
    Zhang, Shun
    JOURNAL OF ELECTRONIC IMAGING, 2022, 31 (01)