Relocalization under substantial appearance changes using hashing
Proceedings of the IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Vancouver, BC, Canada（2017）
摘要
Page 1. 1 Relocalization under Substantial Appearance Changes using Hashing Olga Vysotska and Cyrill Stachniss Page 2. 2 Changes in the environment lead to challenges in recognition seasonal changes view point changes day / night changes Page 3. 3 Preserve sequence information Matching image sequences can be formulated as graph search problem Naseer et al., AAAI 2014 Page 4. 4 Preserve sequence information Data associations are obtained by computing shortest path in the graph Naseer et al., AAAI 2014 Page 5. 5 Online sequence matching Nodes are created only in the regions that support path hypothesis Page 6. 6 Easy: Query and reference trajectories mostly overlap Page 7. 7 Hard: Flexible trajectories Reference trajectory contains loop Query trajectory deviation Page 8. 8 Previous approach fails Reference trajectory contains loop Query trajectory deviation Page 9. 9 …
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