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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence / EAAI-20

Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration

February 1, 2023

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Authors

Kai Liu

Colorado School of Mines


Hua Wang

Colorado School of Mines


Fei Han

Colorado School of Mines


Hao Zhang

Colorado School of Mines


DOI:

10.1609/aaai.v33i01.33018034


Abstract:

Visual place recognition is essential for large-scale simultaneous localization and mapping (SLAM). Long-term robot operations across different time of the days, months, and seasons introduce new challenges from significant environment appearance variations. In this paper, we propose a novel method to learn a location representation that can integrate the semantic landmarks of a place with its holistic representation. To promote the robustness of our new model against the drastic appearance variations due to long-term visual changes, we formulate our objective to use non-squared ℓ2-norm distances, which leads to a difficult optimization problem that minimizes the ratio of the ℓ2,1-norms of matrices. To solve our objective, we derive a new efficient iterative algorithm, whose convergence is rigorously guaranteed by theory. In addition, because our solution is strictly orthogonal, the learned location representations can have better place recognition capabilities. We evaluate the proposed method using two large-scale benchmark data sets, the CMU-VL and Nordland data sets. Experimental results have validated the effectiveness of our new method in long-term visual place recognition applications.

Topics: AAAI

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HOW TO CITE:

Kai Liu||Hua Wang||Fei Han||Hao Zhang Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration Proceedings of the AAAI Conference on Artificial Intelligence (2019) 8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration AAAI 2019, 8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang (2019). Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration. Proceedings of the AAAI Conference on Artificial Intelligence, 8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration. Proceedings of the AAAI Conference on Artificial Intelligence 2019 p.8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. 2019. Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration. "Proceedings of the AAAI Conference on Artificial Intelligence". 8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. (2019) "Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration", Proceedings of the AAAI Conference on Artificial Intelligence, p.8034-8041

Kai Liu||Hua Wang||Fei Han||Hao Zhang, "Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration", AAAI, p.8034-8041, 2019.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. "Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration". Proceedings of the AAAI Conference on Artificial Intelligence, 2019, p.8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. "Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration". Proceedings of the AAAI Conference on Artificial Intelligence, (2019): 8034-8041.

Kai Liu||Hua Wang||Fei Han||Hao Zhang. Visual Place Recognition via Robust ℓ2-Norm Distance Based Holism and Landmark Integration. AAAI[Internet]. 2019[cited 2023]; 8034-8041.


ISSN: 2374-3468


Published by AAAI Press, Palo Alto, California USA
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Artificial Intelligence 1900 Embarcadero Road, Suite
101, Palo Alto, California 94303 All Rights Reserved

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