Coresets for visual summarization with applications to loop closure
Publication
, Conference
Volkov, M; Rosman, G; Feldman, D; Fisher, JW; Rus, D
Published in: Proceedings IEEE International Conference on Robotics and Automation
June 29, 2015
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.
Duke Scholars
Published In
Proceedings IEEE International Conference on Robotics and Automation
DOI
ISSN
1050-4729
Publication Date
June 29, 2015
Volume
2015-June
Issue
June
Start / End Page
3638 / 3645
Citation
APA
Chicago
ICMJE
MLA
NLM
Volkov, M., Rosman, G., Feldman, D., Fisher, J. W., & Rus, D. (2015). Coresets for visual summarization with applications to loop closure. In Proceedings IEEE International Conference on Robotics and Automation (Vol. 2015-June, pp. 3638–3645). https://doi.org/10.1109/ICRA.2015.7139704
Volkov, M., G. Rosman, D. Feldman, J. W. Fisher, and D. Rus. “Coresets for visual summarization with applications to loop closure.” In Proceedings IEEE International Conference on Robotics and Automation, 2015-June:3638–45, 2015. https://doi.org/10.1109/ICRA.2015.7139704.
Volkov M, Rosman G, Feldman D, Fisher JW, Rus D. Coresets for visual summarization with applications to loop closure. In: Proceedings IEEE International Conference on Robotics and Automation. 2015. p. 3638–45.
Volkov, M., et al. “Coresets for visual summarization with applications to loop closure.” Proceedings IEEE International Conference on Robotics and Automation, vol. 2015-June, no. June, 2015, pp. 3638–45. Scopus, doi:10.1109/ICRA.2015.7139704.
Volkov M, Rosman G, Feldman D, Fisher JW, Rus D. Coresets for visual summarization with applications to loop closure. Proceedings IEEE International Conference on Robotics and Automation. 2015. p. 3638–3645.
Published In
Proceedings IEEE International Conference on Robotics and Automation
DOI
ISSN
1050-4729
Publication Date
June 29, 2015
Volume
2015-June
Issue
June
Start / End Page
3638 / 3645