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

A reliable order-statistics-based approximate nearest neighbor search algorithm

We propose a new algorithm for fast approximate nearest neighbor search based on the properties of ordered vectors. Data vectors are classified based on the index and sign of their largest components, thereby partitioning the space in a number of cones centered in the origin. The query is itself classified, and the search starts from the selected cone and proceeds to neighboring ones. Overall, the proposed algorithm corresponds to locality sensitive hashing in the space of directions, with hashing based on the order of components. Thanks to the statistical features emerging through ordering, it deals very well with the challenging case of unstructured data, and is a valuable building block for more complex techniques dealing with structured data. Experiments on both simulated and real-world data prove the proposed algorithm to provide a state-of-the-art performance

Hashing for Similarity Search: A Survey

Similarity search (nearest neighbor search) is a problem of pursuing the data items whose distances to a query item are the smallest from a large database. Various methods have been developed to address this problem, and recently a lot of efforts have been devoted to approximate search. In this paper, we present a survey on one of the main solutions, hashing, which has been widely studied since the pioneering work locality sensitive hashing. We divide the hashing algorithms two main categories: locality sensitive hashing, which designs hash functions without exploring the data distribution and learning to hash, which learns hash functions according the data distribution, and review them from various aspects, including hash function design and distance measure and search scheme in the hash coding space