Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

Bilinear Optimized Product Quantization for Scalable Visual Content Analysis

© 1992-2012 IEEE. Product quantization (PQ) has been recognized as a useful technique to encode visual feature vectors into compact codes to reduce both the storage and computation cost. Recent advances in retrieval and vision tasks indicate that high-dimensional descriptors are critical to ensuring high accuracy on large-scale data sets. However, optimizing PQ codes with high-dimensional data is extremely time-consuming and memory-consuming. To solve this problem, in this paper, we present a novel PQ method based on bilinear projection, which can well exploit the natural data structure and reduce the computational complexity. Specifically, we learn a global bilinear projection for PQ, where we provide both non-parametric and parametric solutions. The non-parametric solution does not need any data distribution assumption. The parametric solution can avoid the problem of local optima caused by random initialization, and enjoys a theoretical error bound. Besides, we further extend this approach by learning locally bilinear projections to fit underlying data distributions. We show by extensive experiments that our proposed method, dubbed bilinear optimization product quantization, achieves competitive retrieval and classification accuracies while having significant lower time and space complexities