Deep Homography Estimation for Visual Place Recognition

arXiv:2402.16086v1 Announce Type: new
Abstract: Visual place recognition (VPR) is a fundamental task for many applications such as robot localization and augmented reality. Recently, the hierarchical VPR methods have received considerable attention due to the trade-off between accuracy and efficiency. They usually first use global features to retrieve the candidate images, then verify the spatial consistency of matched local features for re-ranking. However, the latter typically relies on the RANSAC algorithm for fitting homography, which is time-consuming and non-differentiable. This …

arxiv cs.ai cs.cv homography recognition type visual