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

Report Date:

2016-10-16

Pagination or Media Count:

16.0

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