The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
Bags of Binary Words for Fast Place Recognition in Image Sequences
Open accessAbstract
We propose a novel method for visual place recognition using bag of words obtained from accelerated segment test (FAST)+BRIEF features. For the first time, we build a vocabulary tree that discretizes a binary descriptor space and use the tree to speed up correspondences for geometrical verification. We present competitive results with no false positives in very different datasets, using exactly the same vocabulary and settings. The whole technique, including feature extraction, requires 22 ms/frame in a sequence with 26 300 images that is one order of magnitude faster than previous approaches.
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Citations
Cites
Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000029664.99615.94 · Cited by 55,589
SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955 · cited 2×
“We present comparisons between the effectiveness of BRIEF and two versions of SURF features [11], the descriptor most used for loop closing.”
MethodSpeeded-Up Robust Features (SURF)
Bay, H., Ess, A., Tuytelaars, T., & Van Gool, L. (2008) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2007.09.014 · Cited by 13,557
ORB: An efficient alternative to SIFT or SURF
Rublee, E., Rabaud, V., Konolige, K., & Bradski, G. (2011) · 2011 International Conference on Computer Vision · doi:10.1109/iccv.2011.6126544 · Cited by 11,037
(2007) · doi:10.5555/1283383.1283494 · Cited by 7,364
Video Google: a text retrieval approach to object matching in videos
Sivic, & Zisserman (2003) · Proceedings Ninth IEEE International Conference on Computer Vision · doi:10.1109/iccv.2003.1238663 · Cited by 6,367
Machine Learning for High-Speed Corner Detection
Rosten, E., & Drummond, T. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_34 · Cited by 4,555
BRIEF: Binary Robust Independent Elementary Features
Calonder, M., Lepetit, V., Strecha, C., & Fua, P. (2010) · Lecture Notes in Computer Science · doi:10.1007/978-3-642-15561-1_56 · Cited by 3,597
Scalable Recognition with a Vocabulary Tree
Nister, D., & Stewenius, H. (2006) · 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2 (CVPR'06) · doi:10.1109/cvpr.2006.264 · Cited by 3,579
BRISK: Binary Robust invariant scalable keypoints
Leutenegger, S., Chli, M., & Siegwart, R. Y. (2011) · 2011 International Conference on Computer Vision · doi:10.1109/iccv.2011.6126542 · Cited by 3,450
Cited by
ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras
Mur-Artal, R., & Tardos, J. D. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2705103 · Cited by 6,898
“The system has embedded a Place Recognition module based on DBoW2 [16] for relocalization, in case of tracking failure (e.g. an occlusion) or for reinitialization in an already mapped scene, and for loop detection.”
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2463671 · Cited by 6,778
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
Qin, T., Li, P., & Shen, S. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2853729 · Cited by 4,669
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Sattler, T., Maddern, W., Toft, C., Torii, A., Hammarstrand, L., Stenborg, E., Safari, D., Okutomi, M., Pollefeys, M., Sivic, J., et al. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00897 · Cited by 699
(2020) · doi:10.1109/icra40945.2020.9196885 · Cited by 633
Metadata
- Authors
- Galvez-López, D., & Tardos, J. D.
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-10
- Volume
- 28
- Issue
- 5
- Pages
- 1188-1197
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W1989484209
- Cited by
- 1,913
- References
- 27
- FWCI
- 26.56
- Type
- journal article
- Language
- en
- Open access
- green
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