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Place recognition from disparate views

Rob Frampton, Andrew Calway, Place recognition from disparate views. Proceedings of the British Machine Vision Conference (BMVC). September 2013. PDF, 4238 Kbytes. External information


We use detected objects as basic features in a semantic place recognition system with the aim of allowing recognition when views are disparate. This is achieved by constructing a 2D place model of object positions and then using training examples to compute the probability that a pair depict the same place. We also generate an estimate of the relative pose of the cameras. Results on a dataset of 40 urban locations show good recognition performance and pose estimation, even for highly disparate views.

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