Recognizing the place shown in an image of a scene despite distracting factors with TransVPR

Recognizing the place shown in an image of a scene despite distracting factors with TransVPR

TransVPR: Transformer-based place recognition with multi-level attention aggregation

arXiv paper abstract https://arxiv.org/abs/2201.02001v1

arXiv PDF paper https://arxiv.org/pdf/2201.02001v1.pdf

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization.

Distracting elements presenting in complex scenes often lead to deviations in the perception of visual place.

To address this problem, it is crucial to integrate information from only task-relevant regions into image representations.

... introduce a novel holistic place recognition model, TransVPR, based on vision Transformers.

... Attentions from multiple levels of the Transformer, which focus on different regions of interest, are further combined to generate a global image representation.

... TransVPR achieves state-of-the-art performance on several real-world benchmarks while maintaining low computational time and storage requirements.

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