Coresets for visual summarization with applications to loop closure

• Main Authors: Volkov, Mikhail (Contributor), Rosman, Guy (Contributor), Feldman, Dan (Contributor), Fisher III, John W. (Contributor), Rus, Daniela L. (Contributor)
• Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers (IEEE), 2016-01-29T00:13:49Z.
• Subjects: Article
• Online Access: Get fulltext

 In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.