Local region detector + CNN based landmarks for practical place recognition in changing environments

摘要

Visual place recognition is a mature field in mobile robotics research. Recognizing places in datasets covering traversals of hundreds or thousands of kilometres and accurate localization in small and medium size environments have been successfully demonstrated. However, for real world long term operation, visual place recognition has to face severe environmental appearance changes due to day-night cycles, seasonal or weather changes. Existing approaches for recognizing places in such changing environments provide solutions for matching images from the exact same viewpoint using powerful holistic descriptors, using less sophisticated holistic descriptors in combinations with images sequences, and/or pose strong requirements on training data to learn systematic appearance changes. In this paper, we present a novel, training free, single image matching procedure that builds upon local region detectors for powerful Convolutional Neural Network (CNN) based descriptors. It can be used with a broad range of local region detectors including keypoints, segmentation based approaches and object proposals. We propose a novel evaluation criterion for selection of an appropriate local region detector for changing environments and compare several available detectors. The scale space extrema detector known from the SIFT keypoint detector in combination with appropriate magnification factors performs best. We present preliminary results of the proposed image matching procedure with several region detectors on the challenging Nordland dataset on place recognition between different seasons and a dataset including severe viewpoint changes. The proposed method outperforms the best existing holistic method for place recognition in such changing environments and can additionally handle severe viewpoint changes. Additionally, the combination of the best performing detectors with superpixel based spatial image support shows promising results.