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Scene recognition with bag of visual nouns and prepositions

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Abstract

The loop closure problem is central to topological simultaneous localization and mapping (SLAM); by associating features between distant portions of a trajectory, the odometry error that has accumulated between two observations can be eliminated and a more consistent map can be built. Bayesian pattern recognition techniques such as bag of visual words (BoVW) have recently shown outstanding results in solving the loop closure problem completely in image space using very simple, inexpensive cameras, without the requirement for highly accurate metric information, 3D reconstruction, or camera calibration. In this paper, a modified BoVW descriptor that incorporates simple geometric relationships within an image is used with the fast appearance-based mapping (FAB-MAP) algorithm. In direct comparisons with the traditional BoVW descriptor, an improved recall rate is observed with an acceptable increase in computational time. The proposal of a BoVW-compatible descriptor and the use of the proposed descriptor with a well-known BoVW classifier demonstrate the ability of the BoVW metaphor to be generalized, which could pave the way for more various BoVW descriptors in the same way that many individual visual feature descriptors exist within the computer vision community.

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Acknowledgments

This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by KEIT (No. 10051155) and by Basic Science Research Program through the NRF funded by MSIP (No. 2007-0056094).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, 5, Anam-dong, Sungbuk-ku, Seoul, 136-713, South Korea

    John Stalbaum, Hee-Won Chae & Jae-Bok Song

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  1. John Stalbaum
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  2. Hee-Won Chae
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  3. Jae-Bok Song
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Correspondence to Jae-Bok Song.

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Stalbaum, J., Chae, HW. & Song, JB. Scene recognition with bag of visual nouns and prepositions. Intel Serv Robotics 8, 115–125 (2015). https://doi.org/10.1007/s11370-015-0167-0

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  • DOI: https://doi.org/10.1007/s11370-015-0167-0

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