Distance-Ranking-Based Weighted Triplet Loss for Visual Place Recognition
文献类型:会议论文
作者 | Xiong Yu1,2![]() ![]() |
出版日期 | 2024-04-29 |
会议日期 | 2023-12-8 |
会议地点 | Tianjin, China |
英文摘要 | In the realms of computer vision and robotics, the concept of visual place recognition holds significant prominence. Its objective revolves around equipping a model with the capability to identify, from a provided query image, the most analogous images within a database, thereby identifying the place represented by the query image. Current visual place recognition models typically rely on triplet loss functions for training, but such loss functions have limitations. Traditional triplet loss functions only classify database samples into positive and negative classes, without considering the importance ranking among samples. Some samples may be more similar to the query image and contain more useful information, thus deserving more attention during training. In tackling this problem, our approach introduces a novel loss function termed the distance-ranking-based weighted triplet loss. This unique loss function assigns weightage to triplets by evaluating the spatial gap separating positive instances and the queried image, thereby intensifying the emphasis on pivotal samples. Within the framework of place recognition tasks utilizing the NetVLAD pipeline, our method achieves approximately a 1% improvement in both the Recall@l and Recall@5 compared to traditional triplet loss function. |
语种 | 英语 |
源URL | [http://ir.ia.ac.cn/handle/173211/56601] ![]() |
专题 | 自动化研究所_模式识别国家重点实验室_遥感图像处理团队 |
通讯作者 | Meng Gaofeng |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Xiong Yu,Xu Shixiong,Meng Gaofeng. Distance-Ranking-Based Weighted Triplet Loss for Visual Place Recognition[C]. 见:. Tianjin, China. 2023-12-8. |
入库方式: OAI收割
来源:自动化研究所
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