12,381 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
A note on the evaluation of generative models
Probabilistic generative models can be used for compression, denoising,
inpainting, texture synthesis, semi-supervised learning, unsupervised feature
learning, and other tasks. Given this wide range of applications, it is not
surprising that a lot of heterogeneity exists in the way these models are
formulated, trained, and evaluated. As a consequence, direct comparison between
models is often difficult. This article reviews mostly known but often
underappreciated properties relating to the evaluation and interpretation of
generative models with a focus on image models. In particular, we show that
three of the currently most commonly used criteria---average log-likelihood,
Parzen window estimates, and visual fidelity of samples---are largely
independent of each other when the data is high-dimensional. Good performance
with respect to one criterion therefore need not imply good performance with
respect to the other criteria. Our results show that extrapolation from one
criterion to another is not warranted and generative models need to be
evaluated directly with respect to the application(s) they were intended for.
In addition, we provide examples demonstrating that Parzen window estimates
should generally be avoided
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