Open AccessDynamic programming approach to visual place recognition in changing environments
Author(s) -
Oh J.H.,
Lee B.H.
Publication year - 2017
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2017.0037
Subject(s) - computer science , constraint (computer aided design) , artificial intelligence , encoder , perception , dynamic programming , path (computing) , sequence (biology) , mobile robot , motion (physics) , computer vision , robot , algorithm , engineering , programming language , mechanical engineering , genetics , neuroscience , biology , operating system
Recognising places under extreme perceptual changes is a challenging problem. A new dynamic programming method to align sequences of image features extracted from a deep convolutional auto‐encoder to efficiently solve this problem is proposed. As this method considers not only environmental variations, but also the motion constraint of the mobile robot, places from changing environment can be successfully recognised by finding the most likely path sequence. Experimental results show improved precision–recall performance compared with other algorithms.