Self-Supervised Place Recognition by Refining Temporal and Featural Pseudo Labels from Panoramic Data

• URL: http://arxiv.org/abs/2208.09315v3
• Date: Wed, 20 Nov 2024 02:48:31 GMT
• Title: Self-Supervised Place Recognition by Refining Temporal and Featural Pseudo Labels from Panoramic Data
• Authors: Chao Chen, Zegang Cheng, Xinhao Liu, Yiming Li, Li Ding, Ruoyu Wang, Chen Feng,
• Abstract summary: We propose a novel framework named TF-VPR that uses temporal neighborhoods and learnable feature neighborhoods to discover unknown spatial neighborhoods. Our method outperforms self-supervised baselines in recall rate, robustness, and heading diversity.
• Score: 16.540900776820084
• License:
• Abstract: Visual place recognition (VPR) using deep networks has achieved state-of-the-art performance. However, most of them require a training set with ground truth sensor poses to obtain positive and negative samples of each observation's spatial neighborhood for supervised learning. When such information is unavailable, temporal neighborhoods from a sequentially collected data stream could be exploited for self-supervised training, although we find its performance suboptimal. Inspired by noisy label learning, we propose a novel self-supervised framework named TF-VPR that uses temporal neighborhoods and learnable feature neighborhoods to discover unknown spatial neighborhoods. Our method follows an iterative training paradigm which alternates between: (1) representation learning with data augmentation, (2) positive set expansion to include the current feature space neighbors, and (3) positive set contraction via geometric verification. We conduct auto-labeling and generalization tests on both simulated and real datasets, with either RGB images or point clouds as inputs. The results show that our method outperforms self-supervised baselines in recall rate, robustness, and heading diversity, a novel metric we propose for VPR. Our code and datasets can be found at https://ai4ce.github.io/TF-VPR/

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