Accession Number : AD1024359


Title :   A Simple Hierarchical Pooling Data Structure for Loop Closure


Descriptive Note : Conference Paper


Corporate Author : University of California, Los Angeles Los Angeles United States


Personal Author(s) : Fei,Xiaohan ; Tsotsos,Konstantine ; Soatto,Stefano


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1024359.pdf


Report Date : 16 Oct 2016


Pagination or Media Count : 16


Abstract : We propose a data structure obtained by hierarchically pool-ing Bag-of-Words (BoW) descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications rang-ing from 2 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with minimal loss of performance.


Descriptors :   computer vision , pattern recognition , images , robot mapping


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE