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2019, 2019 International Conference on Robotics and Automation (ICRA), Pages 5488-5494

Adding Cues to Binary Feature Descriptors for Visual Place Recognition (04b Atto di convegno in volume)

Schlegel Dominik, Grisetti Giorgio

In this paper we propose an approach to embed multi-dimensional continuous cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric. Augmenting the descriptors in such a way has the advantage of being transparent to the procedure used to compare them. We present a concrete application of our methodology, demonstrating the considered type of continuous cue. Additionally, we conducted a broad quantitative and comparative evaluation on that application, covering five benchmark datasets and several state-of-the-art image retrieval approaches in combination with various binary descriptor types.
ISBN: 978-1-5386-6027-0
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