中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Distance-Ranking-Based Weighted Triplet Loss for Visual Place Recognition

文献类型:会议论文

作者Xiong Yu1,2; Xu Shixiong1,2; Meng Gaofeng1,2
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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