Dynamic programming approach to visual place recognition in changing environments. Issue 6 (1st March 2017)

• Record Type: Journal Article
• Authors: Oh, J.H.; Lee, B.H.
• Is Part Of: Electronics letters. Volume 53:Issue 6(2017)
• Page Start: 391
• Page End: 393
• Publication Date: 2017-03-01
• Subjects: dynamic programming -- feature extraction -- SLAM (robots) -- mobile robots -- robot vision; dynamic programming approach -- visual place recognition -- image feature extraction -- deep convolutional autoencoder -- mobile robot -- precision‐recall performance; Electronics -- Periodicals; 621.381
• DOI: 10.1049/el.2017.0037
• Languages: English
• ISSNs: 0013-5194

Abstract

Abstract : Recognising places under extreme perceptual changes is a challenging problem. A new dynamic programming method to align sequences of image features extracted from a deep convolutional auto‐encoder to efficiently solve this problem is proposed. As this method considers not only environmental variations, but also the motion constraint of the mobile robot, places from changing environment can be successfully recognised by finding the most likely path sequence. Experimental results show improved precision–recall performance compared with other algorithms.