Publication: Efficient decentralized visual place recognition using a distributed inverted index
Efficient decentralized visual place recognition using a distributed inverted index
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Cieslewski, T., & Scaramuzza, D. (2017). Efficient decentralized visual place recognition using a distributed inverted index. IEEE Robotics and Automation Letters, 2(2), 640–647. https://doi.org/10.1109/lra.2017.2650153
Abstract
Abstract
Abstract
State-of-the-art systems that place recognition in a group of n robots either rely on a centralized solution, where each robot's map is sent to a central server, or a decentralized solution, where the map is either sent to all other robots, or robots within a communication range. Both approaches have their drawbacks: centralized systems rely on a central entity, which handles all the computational load and cannot be deployed in large, remote areas, whereas decentralized systems either exchange n times more data or preclude matches bet
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- Cieslewski, Titus
- Scaramuzza, Davide
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Citations
Cieslewski, T., & Scaramuzza, D. (2017). Efficient decentralized visual place recognition using a distributed inverted index. IEEE Robotics and Automation Letters, 2(2), 640–647. https://doi.org/10.1109/lra.2017.2650153
