NDLI: Visual loop closure detection with a compact image descriptor

Content Provider	IEEE Xplore Digital Library
Author	Yang Liu Hong Zhang
Copyright Year	2012
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Alberta, Edmonton, AB, Canada (Yang Liu; Hong Zhang)
Abstract	In this paper, we present a method for visual loop closure detection using a compact image descriptor, Gabor-Gist. In contrast to the Bag-of-Words (BoW) approach, which is dominant in recent studies of the loop closure detection problem that derives an image descriptor from locally extracted keypoint descriptors, our method relies on a single efficient image descriptor of low dimension to describe and measure similarities among images. We employ PCA to transform a high dimensional Gabor-Gist descriptor to a lower dimensional form to improve both the computational efficiency of our method and the discriminative power of the image descriptor. In addition, we use a particle filter to exploit the correlation among images in a sequence captured by the robot in the process of identifying loop closure candidates. Our method is highly scalable due to the compactness of the image descriptor and the simplicity of particle filtering. To validate our method, we used the Oxford City dataset. Our experimental results show that for this dataset, high recall (up to 87%) can be obtained at 100% precision, with only a few particles.
Starting Page	1051
Ending Page	1056
File Size	1083718
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386145
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Feature extraction Simultaneous localization and mapping Principal component analysis Coherence
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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