Salient Feature Selection for CNN-Based Visual Place Recognition

Yutian CHEN  Wenyan GAN  Shanshan JIAO  Youwei XU  Yuntian FENG  

Publication
IEICE TRANSACTIONS on Information and Systems   Vol.E101-D   No.12   pp.3102-3107
Publication Date: 2018/12/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2018EDP7175
Type of Manuscript: PAPER
Category: Artificial Intelligence, Data Mining
Keyword: 
visual place recognition,  CNN,  variance,  feature map,  binarization,  

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Summary: 
Recent researches on mobile robots show that convolutional neural network (CNN) has achieved impressive performance in visual place recognition especially for large-scale dynamic environment. However, CNN leads to the large space of image representation that cannot meet the real-time demand for robot navigation. Aiming at this problem, we evaluate the feature effectiveness of feature maps obtained from the layer of CNN by variance and propose a novel method that reserve salient feature maps and make adaptive binarization for them. Experimental results demonstrate the effectiveness and efficiency of our method. Compared with state of the art methods for visual place recognition, our method not only has no significant loss in precision, but also greatly reduces the space of image representation.