NDLI: Bayesian place recognition based on bag of objects for intelligent vehicle localisation

Content Provider	IET Digital Library
Author	Wang, Xianglong Hu, Zhaozheng Tao, Qianwen Huang, Gang Mu, Mengchao
Abstract	Place recognition matches a corresponding image from a pre-built image sequence, and it plays an important role in visual map-based vehicle localisation. This study proposes a Bayesian place recognition (BPR) algorithm based on a bag of objects (BoO). The proposed BoO is superior to the classic bag of words (BoW), with a faster speed and greater robustness for scene representation. Like BoW, BoO uses object probabilities computed from the pre-trained AlexNet to construct a histogram-like vector called the BoO feature. A small portion of objects, named dominant objects, are computed from map data to reduce the storage requirement. The BoO feature is used to describe the scene image similarity. Owing to the excellent recognition performance of AlexNet, the BoO feature is robust to dynamic illumination environments. With BoO, the BPR model is employed to fuse appearance feature and motion clue for place recognition. Moreover, a multi-scale localisation strategy is developed to improve the place recognition efficiency. The proposed method was tested with the collected data and the KITTI datasets. The method achieved 0.37 frame errors, taking an average of 4.7 ms for place recognition. Experimental results demonstrated that the proposed method outperforms the classic BoW and binary BoW.
Starting Page	1736
Ending Page	1744
Page Count	9
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 11, Nov (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5431
Journal	IET Intelligent Transport Systems
Publisher Date	2019-07-25
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Appearance Feature Bag of Objects Bayesian Place Recognition Algorithm BoO Feature Classic Bag Classic Bag of Words Classic BoW Computer Vision And Image Processing Technique Dominant Objects Dynamic Illumination Environments Feature Extraction Image Matching Image Recognition Image Sequence Intelligent Vehicle Localisation KITTI Datasets Motion Clue Multiscale Localisation Object Detection Object Probabilities Place Recognition Efficiency Pre-built Image Sequence Pre-trained AlexNet Probability Scene Image Similarity Statistics Visual Map-based Vehicle Localisation
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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