4,943 research outputs found
Hashing as Tie-Aware Learning to Rank
Hashing, or learning binary embeddings of data, is frequently used in nearest
neighbor retrieval. In this paper, we develop learning to rank formulations for
hashing, aimed at directly optimizing ranking-based evaluation metrics such as
Average Precision (AP) and Normalized Discounted Cumulative Gain (NDCG). We
first observe that the integer-valued Hamming distance often leads to tied
rankings, and propose to use tie-aware versions of AP and NDCG to evaluate
hashing for retrieval. Then, to optimize tie-aware ranking metrics, we derive
their continuous relaxations, and perform gradient-based optimization with deep
neural networks. Our results establish the new state-of-the-art for image
retrieval by Hamming ranking in common benchmarks.Comment: 15 pages, 3 figures. IEEE Conference on Computer Vision and Pattern
Recognition (CVPR), 201
Adding Cues to Binary Feature Descriptors for Visual Place Recognition
In this paper we propose an approach to embed continuous and selector cues in
binary feature descriptors used for visual place recognition. The embedding is
achieved by extending each feature descriptor with a binary string that encodes
a cue and supports the Hamming distance metric. Augmenting the descriptors in
such a way has the advantage of being transparent to the procedure used to
compare them. We present two concrete applications of our methodology,
demonstrating the two considered types of cues. In addition to that, we
conducted on these applications a broad quantitative and comparative evaluation
covering five benchmark datasets and several state-of-the-art image retrieval
approaches in combination with various binary descriptor types.Comment: 8 pages, 8 figures, source: www.gitlab.com/srrg-software/srrg_bench,
submitted to ICRA 201
HBST: A Hamming Distance embedding Binary Search Tree for Visual Place Recognition
Reliable and efficient Visual Place Recognition is a major building block of
modern SLAM systems. Leveraging on our prior work, in this paper we present a
Hamming Distance embedding Binary Search Tree (HBST) approach for binary
Descriptor Matching and Image Retrieval. HBST allows for descriptor Search and
Insertion in logarithmic time by exploiting particular properties of binary
Feature descriptors. We support the idea behind our search structure with a
thorough analysis on the exploited descriptor properties and their effects on
completeness and complexity of search and insertion. To validate our claims we
conducted comparative experiments for HBST and several state-of-the-art methods
on a broad range of publicly available datasets. HBST is available as a compact
open-source C++ header-only library.Comment: Submitted to IEEE Robotics and Automation Letters (RA-L) 2018 with
International Conference on Intelligent Robots and Systems (IROS) 2018
option, 8 pages, 10 figure
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