Coresets for visual summarization with applications to loop closure
Mikhail Volkov, Guy Rosman, Dan Feldman, John W. Fisher, Daniela Rus
Abstract
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.
BibTeX
@inproceedings{icra2015_coresetsforvisua,
title = {Coresets for visual summarization with applications to loop closure},
author = {Mikhail Volkov and Guy Rosman and Dan Feldman and John W. Fisher and Daniela Rus},
booktitle = {ICRA 2015},
year = {2015}
}