Coresets for visual summarization with applications to loop closure

Mikhail Volkov; Guy Rosman; Dan Feldman; John W. Fisher; Daniela Rus

doi:10.1109/ICRA.2015.7139704

Coresets for visual summarization with applications to loop closure

Mikhail Volkov
, Guy Rosman
, Dan Feldman
, John W. Fisher
, Daniela Rus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3638-3645
Number of pages	8
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139704
State	Published - 29 Jun 2015
Externally published	Yes
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1109/ICRA.2015.7139704

Cite this

Volkov, M., Rosman, G., Feldman, D., Fisher, J. W., & Rus, D. (2015). Coresets for visual summarization with applications to loop closure. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 3638-3645). Article 7139704 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139704

@inproceedings{d41ab80d900c4cdbbd03390f4637924f,

title = "Coresets for visual summarization with applications to loop closure",

abstract = "In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.",

author = "Mikhail Volkov and Guy Rosman and Dan Feldman and Fisher, \{John W.\} and Daniela Rus",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

year = "2015",

month = jun,

day = "29",

doi = "10.1109/ICRA.2015.7139704",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "June",

pages = "3638--3645",

booktitle = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015",

address = "United States",

edition = "June",

}

Volkov, M, Rosman, G, Feldman, D, Fisher, JW & Rus, D 2015, Coresets for visual summarization with applications to loop closure. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139704, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 3638-3645, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139704

Coresets for visual summarization with applications to loop closure. / Volkov, Mikhail; Rosman, Guy; Feldman, Dan et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3638-3645 7139704 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Coresets for visual summarization with applications to loop closure

AU - Volkov, Mikhail

AU - Rosman, Guy

AU - Feldman, Dan

AU - Fisher, John W.

AU - Rus, Daniela

PY - 2015/6/29

Y1 - 2015/6/29

N2 - In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.

AB - In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.

UR - https://www.scopus.com/pages/publications/84938253804

U2 - 10.1109/ICRA.2015.7139704

DO - 10.1109/ICRA.2015.7139704

M3 - Conference contribution

AN - SCOPUS:84938253804

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3638

EP - 3645

BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Y2 - 26 May 2015 through 24 July 2020

ER -

Volkov M, Rosman G, Feldman D, Fisher JW, Rus D. Coresets for visual summarization with applications to loop closure. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3638-3645. 7139704. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139704

Coresets for visual summarization with applications to loop closure

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Deterministic coresets for k-Means of big sparse data

Cite this

Coresets for visual summarization with applications to loop closure

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Related research output

Deterministic coresets for k-Means of big sparse data

Cite this