Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles
Joint Authors
Zou, Huanxin
Hou, Yi
Zhang, Hong
Zhou, Shilin
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-11-09
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Telecommunications Engineering
Abstract EN
Efficient and robust visual localization is important for autonomous vehicles.
By achieving impressive localization accuracy under conditions of significant changes, ConvNet landmark-based approach has attracted the attention of people in several research communities including autonomous vehicles.
Such an approach relies heavily on the outstanding discrimination power of ConvNet features to match detected landmarks between images.
However, a major challenge of this approach is how to extract discriminative ConvNet features efficiently.
To address this challenging, inspired by the high efficiency of the region of interest (RoI) pooling layer, we propose a Multiple RoI (MRoI) pooling technique, an enhancement of RoI, and a simple yet efficient ConvNet feature extraction method.
Our idea is to leverage MRoI pooling to exploit multilevel and multiresolution information from multiple convolutional layers and then fuse them to improve the discrimination capacity of the final ConvNet features.
The main advantages of our method are (a) high computational efficiency for real-time applications; (b) GPU memory efficiency for mobile applications; and (c) use of pretrained model without fine-tuning or retraining for easy implementation.
Experimental results on four datasets have demonstrated not only the above advantages but also the high discriminating power of the extracted ConvNet features with state-of-the-art localization accuracy.
American Psychological Association (APA)
Hou, Yi& Zhang, Hong& Zhou, Shilin& Zou, Huanxin. 2017. Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles. Mobile Information Systems،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1189210
Modern Language Association (MLA)
Hou, Yi…[et al.]. Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles. Mobile Information Systems No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1189210
American Medical Association (AMA)
Hou, Yi& Zhang, Hong& Zhou, Shilin& Zou, Huanxin. Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles. Mobile Information Systems. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1189210
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1189210