Scalable and Efficient Hierarchical Visual Topological Mapping

arXiv:2404.05023v1 Announce Type: new
Abstract: Hierarchical topological representations can significantly reduce search times within mapping and localization algorithms. Although recent research has shown the potential for such approaches, limited consideration has been given to the suitability and comparative performance of different global feature representations within this context. In this work, we evaluate state-of-the-art hand-crafted and learned global descriptors using a hierarchical topological mapping technique on benchmark datasets and present results of a comprehensive evaluation of the impact of the global …

abstract algorithms art arxiv context cs.cv cs.ro feature global hierarchical localization mapping performance reduce research scalable search state type visual work