Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choices

Understand

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes.

• An emerging trend in VPR is the use of sequence-based filtering methods on top of single-frame-based place matching techniques for route-based navigation.
• The combination leads to varying levels of potential place matching performance boosts at increased computational costs.
• This raises a number of interesting research questions: How does performance boost (due to sequential filtering) vary along the entire spectrum of single-frame-based matching methods? How does sequence matching length affect the performance curve? Which specific combinations provide a good trade-off between performance and computation? However, there is lack of previous work looking at these important questions and most of the sequence-based filtering work to date has been used without a systematic approach.