NDLI: Real-time loop detection with bags of binary words

Content Provider	IEEE Xplore Digital Library
Author	Galvez-Lopez, Dorian Tardos, Juan D.
Copyright Year	2011
Description	Author affiliation: Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, 50018, Spain (Galvez-Lopez, Dorian; Tardos, Juan D.)
Abstract	We present a method for detecting revisited places in a image sequence in real time by using efficient features. We introduce three important novelties to the bag-of-words plus geometrical checking approach. We use FAST keypoints and BRIEF descriptors, which are binary and very fast to compute (less that 20µs per point). To perform image comparisons, we make use of a bag of words that discretises the binary descriptor space and an inverse index. We also introduce the use of a direct index to take advantage of the bag of words to obtain correspondence points between two images efficiently, avoiding a matching of complexity $Θ(n^{2}).$ To detect loop closure candidates, we propose managing matches in groups to increase the reliability of the candidates returned by the bag of words. We present results in three real and public datasets, with 0.7–1.7 Km long trajectories. We obtain high precision and recall rates, spending 16 ms on average per image for the feature computation and the whole loop detection process in sequences with 19000 images, one order of magnitude less than other similar techniques.
Starting Page	51
Ending Page	58
File Size	654165
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094885
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vectors Indexes Vocabulary Feature extraction Real time systems Visualization
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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