32,328 research outputs found
k-Nearest Neighbour Classifiers: 2nd Edition (with Python examples)
Perhaps the most straightforward classifier in the arsenal or machine
learning techniques is the Nearest Neighbour Classifier -- classification is
achieved by identifying the nearest neighbours to a query example and using
those neighbours to determine the class of the query. This approach to
classification is of particular importance because issues of poor run-time
performance is not such a problem these days with the computational power that
is available. This paper presents an overview of techniques for Nearest
Neighbour classification focusing on; mechanisms for assessing similarity
(distance), computational issues in identifying nearest neighbours and
mechanisms for reducing the dimension of the data.
This paper is the second edition of a paper previously published as a
technical report. Sections on similarity measures for time-series, retrieval
speed-up and intrinsic dimensionality have been added. An Appendix is included
providing access to Python code for the key methods.Comment: 22 pages, 15 figures: An updated edition of an older tutorial on kN
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
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