Title
A Hybrid compact neural architecture for visual place recognition
Date Issued
01 April 2020
Access level
open access
Resource Type
journal article
Author(s)
Publisher(s)
Institute of Electrical and Electronics Engineers Inc.
Abstract
State-of-The-Art algorithms for visual place recognition, and related visual navigation systems, can be broadly split into two categories: computer-science-oriented models including deep learning or image retrieval-based techniques with minimal biological plausibility, and neuroscience-oriented dynamical networks that model temporal properties underlying spatial navigation in the brain. In this letter, we propose a new compact and high-performing place recognition model that bridges this divide for the first time. Our approach comprises two key neural models of these categories: (1) FlyNet, a compact, sparse two-layer neural network inspired by brain architectures of fruit flies, Drosophila melanogaster, and (2) a one-dimensional continuous attractor neural network (CANN). The resulting FlyNet+CANN network incorporates the compact pattern recognition capabilities of our FlyNet model with the powerful temporal filtering capabilities of an equally compact CANN, replicating entirely in a hybrid neural implementation the functionality that yields high performance in algorithmic localization approaches like SeqSLAM. We evaluate our model, and compare it to three state-of-The-Art methods, on two benchmark real-world datasets with small viewpoint variations and extreme environmental changes-achieving 87% AUC results under day to night transitions compared to 60% for Multi-Process Fusion, 46% for LoST-X and 1% for SeqSLAM, while being 6.5, 310, and 1.5 times faster, respectively.
Start page
993
End page
1000
Volume
5
Issue
2
Language
English
OCDE Knowledge area
Hardware, Arquitectura de computadoras
Scopus EID
2-s2.0-85079141659
Source
IEEE Robotics and Automation Letters
ISSN of the container
23773766
Sponsor(s)
Manuscript received September 5, 2019; accepted December 27, 2019. Date of publication January 17, 2020; date of current version January 30, 2020. This letter was recommended for publication by Associate Editor D. Cappelleri and Editor X. Liu upon evaluation of the reviewers’ comments. The work of M. Chancán was supported by the Peruvian Ministry of Education. The work of M. Milford was supported by the Australian Research Council (ARC). (Corresponding author: Marvin Chancán.) M. Chancán is with the School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD 4000, Australia, and also with the School of Mechatronics Engineering, Universidad Nacional de Ingeniería, Lima, Rímac 15333, Peru (e-mail: mchancanl@uni.pe).
Sources of information: Directorio de Producción Científica Scopus