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Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?

Zaffar, Mubariz and Khaliq, Ahmad and Ehsan, Shoaib and Milford, Michael and Alexis, Kostas and McDonald-Maier, Klaus (2019) Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics? Working Paper. arXiv. (Unpublished)

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Abstract

Visual Place Recognition (VPR) has seen significant advances at the frontiers of matching performance and computational superiority over the past few years. However, these evaluations are performed for ground-based mobile platforms and cannot be generalized to aerial platforms. The degree of viewpoint variation experienced by aerial robots is complex, with their processing power and on-board memory limited by payload size and battery ratings. Therefore, in this paper, we collect $8$ state-of-the-art VPR techniques that have been previously evaluated for ground-based platforms and compare them on $2$ recently proposed aerial place recognition datasets with three prime focuses: a) Matching performance b) Processing power consumption c) Projected memory requirements. This gives a birds-eye view of the applicability of contemporary VPR research to aerial robotics and lays down the the nature of challenges for aerial-VPR.

Item Type: Monograph (Working Paper)
Additional Information: IEEE ICRA 2019 Workshop on Aerial Robotics 8 pages, 7 figures
Uncontrolled Keywords: cs.CV, cs.CV
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 15 May 2020 12:48
Last Modified: 15 May 2020 12:48
URI: http://repository.essex.ac.uk/id/eprint/27548

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