Sequence searching with CNN features for robust and fast visual place recognition.

The primary purpose of this paper is to realize robust place recognition algorithms towards simultaneous viewpoint and condition changes, and provide satisfactory computational efficiency. In this paper, we significantly improve the viewpoint invariance of the SeqSLAM algorithm by using state-of-the-art deep learning techniques to generate robust feature representations of images and develop the SeqCNNSLAM . Experimental results show that SeqCNNSLAM outperforms state-of-the-art place recognition systems in most cases, such as, when precision is maintained at 100%, the maximum recall obtained by SeqCNNSLAM is 50% higher than SeqSLAM on the Norland dataset with simultaneous condition change and 12.5% viewpoint change. Besides, we develop an acceleration method called A-SeqCNNSLAM , which exploits the location relationship between the matching images of adjacent images to reduce the matching range of the current image. Experimental results demonstrate that an acceleration of  ∼  5 times is achieved with minimal accuracy degradation of  ∼  5%. Finally, to enable A-SeqCNNSLAM adaptability in new environments, O-SeqCNNSLAM is devised for the online parameter adjustment in A-SeqCNNSLAM. [ABSTRACT FROM AUTHOR]