Coresets for visual summarization with applications to loop closure
Author(s)Volkov, Mikhail; Rosman, Guy; Feldman, Dan; Fisher III, John W.; Rus, Daniela L.
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In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
Volkov, Mikhail, Guy Rosman, Dan Feldman, John W. Fisher, and Daniela Rus. “Coresets for Visual Summarization with Applications to Loop Closure.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).
Author's final manuscript