STUN: Self-Teaching Uncertainty Estimation for Place Recognition
Kaiwen Cai,Chris Xiaoxuan Lu,Xiaowei Huang,Kaiwen Cai,Chris Xiaoxuan Lu,Xiaowei Huang
Place recognition is key to Simultaneous Localization and Mapping (SLAM) and spatial perception. However, a place recognition in the wild often suffers from erroneous predictions due to image variations, e.g., changing viewpoints and street appearance. Integrating uncertainty estimation into the life cycle of place recognition is a promising method to mitigate the impact of variations on place rec...