Experimental Evaluation of Visual Place Recognition Algorithms for Personal Indoor Localization
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik
2016
referat
angielski
- indoor positioning
- visual place recognition
- loop closure
- Android platform
EN The paper presents a thorough evaluation of two representative visual place recognition algorithms that can be applied to the problem of indoor localization of a person equipped with a modern smartphone. The evaluation focuses on comparing two different state-of-the-art approaches: single imagebased place recognition, represented by the FAB-MAP algorithm, and recognition based on a sequence of images, represented by the ABLE-M algorithm. The evaluation focuses on real-life localization examples in buildings of different structure and the influence of the presence of people in the environment on the recognition results. Moreover, the paper demonstrates feasibility and real-time performance of the visual place recognition methods implemented on an Android smartphone.
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