NDLI: Unsupervised part-based scene modeling for visual robot localization

Content Provider	IEEE Xplore Digital Library
Author	Kanji, T.
Copyright Year	2015
Description	Author affiliation: Fac. of Eng., Univ. of Fukui, Fukui, Japan (Kanji, T.)
Abstract	Scene modeling is an important first stage in visual robot localization. In recent years, the bag-of-words (BoW) scene modeling approach has attracted considerable attention as a method for obtaining compact discriminative scene descriptors for map retrieval. However, a BoW scene descriptor alone cannot address partial view changes and often produces poor localization in practice. In this work, we address this issue by proposing a simple effective approach, “unsupervised part-based scene modeling,” in which a set of useful parts is discovered via scene parsing and the parts are used as additional queries for the map retrieval. We also address the issue of discovering useful parts in a scene, and present a solution that provides similar parts for similar scenes. The next contribution of this work is that we present a practical robot self-localization system that consists of three distinct steps: (1) robust hierarchical scene parsing to obtain multiple scene/part queries, (2) saliency-based selection of useful parts, and (3) aggregation of ranking results from multiple scene/part queries to obtain a reliable ranking result. For rank aggregation, we consider multiple search engines for multiple part queries and adopt the idea of unsupervised rank fusion. Experimental results obtained using a challenging outdoor scene dataset show that our approach is an improvement over previous approaches despite the fact that we do not rely on domain-specific scene/part models nor supervision.
Starting Page	6359
Ending Page	6365
File Size	2017490
Page Count	7
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140092
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Databases Visualization Training data Image segmentation Robot localization Image color analysis
Content Type	Text
Resource Type	Article

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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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