5,469 research outputs found
An Efficient Index for Visual Search in Appearance-based SLAM
Vector-quantization can be a computationally expensive step in visual
bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance
SLAM needs to tackle this problem for an efficient real-time operation. We
propose an effective method to speed up the vector-quantization process in
BoW-based visual SLAM. We employ a graph-based nearest neighbor search (GNNS)
algorithm to this aim, and experimentally show that it can outperform the
state-of-the-art. The graph-based search structure used in GNNS can efficiently
be integrated into the BoW model and the SLAM framework. The graph-based index,
which is a k-NN graph, is built over the vocabulary words and can be extracted
from the BoW's vocabulary construction procedure, by adding one iteration to
the k-means clustering, which adds small extra cost. Moreover, exploiting the
fact that images acquired for appearance-based SLAM are sequential, GNNS search
can be initiated judiciously which helps increase the speedup of the
quantization process considerably
Maximum Inner-Product Search using Tree Data-structures
The problem of {\em efficiently} finding the best match for a query in a
given set with respect to the Euclidean distance or the cosine similarity has
been extensively studied in literature. However, a closely related problem of
efficiently finding the best match with respect to the inner product has never
been explored in the general setting to the best of our knowledge. In this
paper we consider this general problem and contrast it with the existing
best-match algorithms. First, we propose a general branch-and-bound algorithm
using a tree data structure. Subsequently, we present a dual-tree algorithm for
the case where there are multiple queries. Finally we present a new data
structure for increasing the efficiency of the dual-tree algorithm. These
branch-and-bound algorithms involve novel bounds suited for the purpose of
best-matching with inner products. We evaluate our proposed algorithms on a
variety of data sets from various applications, and exhibit up to five orders
of magnitude improvement in query time over the naive search technique.Comment: Under submission in KDD 201
Off the Beaten Path: Let's Replace Term-Based Retrieval with k-NN Search
Retrieval pipelines commonly rely on a term-based search to obtain candidate
records, which are subsequently re-ranked. Some candidates are missed by this
approach, e.g., due to a vocabulary mismatch. We address this issue by
replacing the term-based search with a generic k-NN retrieval algorithm, where
a similarity function can take into account subtle term associations. While an
exact brute-force k-NN search using this similarity function is slow, we
demonstrate that an approximate algorithm can be nearly two orders of magnitude
faster at the expense of only a small loss in accuracy. A retrieval pipeline
using an approximate k-NN search can be more effective and efficient than the
term-based pipeline. This opens up new possibilities for designing effective
retrieval pipelines. Our software (including data-generating code) and
derivative data based on the Stack Overflow collection is available online
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