Highly Robust Visual Place Recognition Through Spatial Matching of CNN Features
Luis G. Camara,Carl Gäbert,Libor Přeučil,Luis G. Camara,Carl Gäbert,Libor Přeučil
We revise, improve and extend the system previously introduced by us and named SSM-VPR (Semantic and Spatial Matching Visual Place Recognition), largely boosting its performance above the current state of the art. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16 Convolutional Neural Network (CNN) architecture. It consists o...
