Place Recognition with Omnidirectional Imaging and Confidence-Based Late Fusion

Marcos Alfaro, Juan Cabrera, Enrique Heredia, Oscar Reinoso, Oscar Reinoso, Arturo Gil, Luis Paya, Luis Paya

2025

Abstract

Place recognition is crucial for the safe navigation of mobile robots. Vision sensors are an effective solution to address this task due to their versatility and low cost, but the images are sensitive to changes in environmental conditions. Multi-modal approaches can overcome this limitation, but the integration of different sensors often leads to larger computing and hardware costs. Consequently, this paper proposes enhancing omnidirectional views with additional features derived from them. First, feature maps are extracted from the original omnidi-rectional images. Second, each feature map is processed by an independent deep network and embedded into a descriptor. Finally, embeddings are merged by means of a late approach that weights each feature according to the confidence in the prediction of the networks. The experiments conducted in indoor and outdoor scenarios revealed that the proposed method consistently improves the performance across different environments and lighting conditions, presenting itself as a precise, cost-effective solution for place recognition. The code is available at the project website: https://github.com/MarcosAlfaro/VPR LF VisualFeatures.

Paper Citation

in Harvard Style

Alfaro M., Cabrera J., Heredia E., Reinoso O., Gil A. and Paya L. (2025). Place Recognition with Omnidirectional Imaging and Confidence-Based Late Fusion. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 117-125. DOI: 10.5220/0013743100003982

in Bibtex Style

@conference{icinco25,
author={Marcos Alfaro and Juan Cabrera and Enrique Heredia and Oscar Reinoso and Arturo Gil and Luis Paya},
title={Place Recognition with Omnidirectional Imaging and Confidence-Based Late Fusion},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2025},
pages={117-125},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013743100003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Place Recognition with Omnidirectional Imaging and Confidence-Based Late Fusion
SN - 978-989-758-770-2
AU - Alfaro M.
AU - Cabrera J.
AU - Heredia E.
AU - Reinoso O.
AU - Gil A.
AU - Paya L.
PY - 2025
SP - 117
EP - 125
DO - 10.5220/0013743100003982
PB - SciTePress