Hierarchical Visual Localization Based on Sparse Feature Pyramid for Adaptive Reduction of Keypoint Map Size.
Andrei PotapovMikhail KurenkovPavel A. KarpyshevEvgeny YudinAlena SavinykhEvgeny KruzhkovDzmitry TsetserukouPublished in: CoRR (2023)
Keyphrases
- coarse to fine
- image features
- multiresolution
- maximum a posteriori
- visual perception
- multiscale
- high dimensional
- visual information
- visual features
- monte carlo localization
- map building
- compressive sensing
- sparse data
- keypoints
- sparse representation
- low level
- object based visual attention
- laplacian pyramid
- localization algorithm
- robot localization
- binary tree
- object localization
- loop closing
- hierarchical structure
- feature descriptors
- local binary pattern
- neural network
- image classification
- input image
- mobile robot
- image sequences
- high level
- computer vision