Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?

Abstract

Visual Place Recognition (VPR) has seen significant advances at the frontiers of matching performance and computational superiority over the past few years. However, these evaluations are performed for ground-based mobile platforms and cannot be generalized to aerial platforms. The degree of viewpoint variation experienced by aerial robots is complex, with their processing power and on-board memory limited by payload size and battery ratings. Therefore, in this paper, we collect $8$ state-of-the-art VPR techniques that have been previously evaluated for ground-based platforms and compare them on $2$ recently proposed aerial place recognition datasets with three prime focuses: a) Matching performance b) Processing power consumption c) Projected memory requirements. This gives a birds-eye view of the applicability of contemporary VPR research to aerial robotics and lays down the the nature of challenges for aerial-VPR.

arXiv commentIEEE ICRA 2019 Workshop on Aerial Robotics 8 pages, 7 figures

References in corpus (5)

• Very Deep Convolutional Networks for Large-Scale Image Recognition
• Particular object retrieval with integral max-pooling of CNN activations
• Convolutional Neural Network-based Place Recognition
• Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions
• Lightweight Unsupervised Deep Loop Closure

Cited by in corpus (6)

• Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments
• ConvSequential-SLAM: A Sequence-based, Training-less Visual Place Recognition Technique for Changing Environments
• Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choices
• CAMAL: Context-Aware Multi-layer Attention framework for Lightweight Environment Invariant Visual Place Recognition
• Scene Retrieval for Contextual Visual Mapping
• A Benchmark Comparison of Visual Place Recognition Techniques for Resource-Constrained Embedded Platforms