Reliable and efficient Visual Place Recognition is a major building block of modern SLAM systems. Leveraging on our prior work, in this paper we present a Hamming Distance embedding Binary Search Tree (HBST) approach for binary Descriptor Matching and Image Retrieval. HBST allows for descriptor Search and Insertion in logarithmic time by exploiting particular properties of binary descriptors. We support the idea behind our search structure with a thorough analysis on the exploited descriptor properties and their effects on completeness and complexity of search and insertion. To validate our claims we conducted comparative experiments for HBST and several state-of-the-art methods on a broad range of publicly available datasets. HBST is available as a compact open-source C++ header-only library.

HBST: A Hamming Distance Embedding Binary Search Tree for Feature-Based Visual Place Recognition / Schlegel, Dominik; Grisetti, Giorgio. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 3:4(2018), pp. 3741-3748. [10.1109/LRA.2018.2856542]

HBST: A Hamming Distance Embedding Binary Search Tree for Feature-Based Visual Place Recognition

Schlegel, Dominik
Primo
;
Grisetti, Giorgio
Ultimo
2018

Abstract

Reliable and efficient Visual Place Recognition is a major building block of modern SLAM systems. Leveraging on our prior work, in this paper we present a Hamming Distance embedding Binary Search Tree (HBST) approach for binary Descriptor Matching and Image Retrieval. HBST allows for descriptor Search and Insertion in logarithmic time by exploiting particular properties of binary descriptors. We support the idea behind our search structure with a thorough analysis on the exploited descriptor properties and their effects on completeness and complexity of search and insertion. To validate our claims we conducted comparative experiments for HBST and several state-of-the-art methods on a broad range of publicly available datasets. HBST is available as a compact open-source C++ header-only library.
2018
Recognition; localization; SLAM
01 Pubblicazione su rivista::01a Articolo in rivista
HBST: A Hamming Distance Embedding Binary Search Tree for Feature-Based Visual Place Recognition / Schlegel, Dominik; Grisetti, Giorgio. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 3:4(2018), pp. 3741-3748. [10.1109/LRA.2018.2856542]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1182637
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