Abstract
A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising solution is to continuously accumulate images to maintain an adequate sample of the conditions and incorporate new changes into the place recognition decision. However, this demands a place recognition technique that is scalable on an ever growing dataset. To this end, we propose a novel place recognition technique that can be efficiently retrained and compressed, such that the recognition of new queries can exploit all available data (including recent changes) without suffering from visible growth in computational cost. Underpinning our method is a novel temporal image matching technique based on Hidden Markov Models. Our experiments show that, compared to state-of-the-art techniques, our method has much greater potential for large-scale place recognition for autonomous driving.
Original language | English |
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Title of host publication | Proceedings - 2019 International Conference on Computer Vision, ICCV 2019 |
Editors | In So Kweon, Nikos Paragios, Ming-Hsuan Yang, Svetlana Lazebnik |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 9318-9327 |
Number of pages | 10 |
ISBN (Electronic) | 9781728148038 |
ISBN (Print) | 9781728148045 |
DOIs | |
Publication status | Published - 2019 |
Externally published | Yes |
Event | IEEE International Conference on Computer Vision 2019 - Seoul, Korea, Republic of (South) Duration: 27 Oct 2019 → 2 Nov 2019 Conference number: 17th http://iccv2019.thecvf.com/ https://ieeexplore.ieee.org/xpl/conhome/8972782/proceeding (Proceedings) |
Publication series
Name | Proceedings of the IEEE International Conference on Computer Vision |
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Publisher | The Institute of Electrical and Electronics Engineers, Inc. |
Volume | 2019-October |
ISSN (Print) | 1550-5499 |
ISSN (Electronic) | 2380-7504 |
Conference
Conference | IEEE International Conference on Computer Vision 2019 |
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Abbreviated title | ICCV 2019 |
Country/Territory | Korea, Republic of (South) |
City | Seoul |
Period | 27/10/19 → 2/11/19 |
Internet address |