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 :

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