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Article Dans Une Revue Frontiers in Robotics and AI Année : 2022

LPMP: A Bio-Inspired Model for Visual Localization in Challenging Environments

Résumé

Autonomous vehicles require precise and reliable self-localization to cope with dynamic environments. The field of visual place recognition (VPR) aims to solve this challenge by relying on the visual modality to recognize a place despite changes in the appearance of the perceived visual scene. In this paper, we propose to tackle the VPR problem following a neuro-cybernetic approach. To this end, the Log-Polar Max-Pi (LPMP) model is introduced. This bio-inspired neural network allows building a neural representation of the environment via an unsupervised one-shot learning. Inspired by the spatial cognition of mammals, visual information in the LPMP model are processed through two distinct pathways: a “what” pathway that extracts and learns the local visual signatures (landmarks) of a visual scene and a “where” pathway that computes their azimuth. These two pieces of information are then merged to build a visuospatial code that is characteristic of the place where the visual scene was perceived. Three main contributions are presented in this article: 1) the LPMP model is studied and compared with NetVLAD and CoHog, two state-of-the-art VPR models; 2) a test benchmark for the evaluation of VPR models according to the type of environment traveled is proposed based on the Oxford car dataset ; and 3) the impact of the use of a novel detector leading to an uneven paving of an environment is evaluated in terms of the localization performance and compared to a regular paving. Our experiments show that the LPMP model can achieve comparable or better localization performance than NetVLAD and CoHog.

Dates et versions

hal-03556955 , version 1 (04-02-2022)

Identifiants

Citer

Sylvain Colomer, Nicolas Cuperlier, Guillaume Bresson, Philippe Gaussier, Olivier Romain. LPMP: A Bio-Inspired Model for Visual Localization in Challenging Environments. Frontiers in Robotics and AI, 2022, 8, ⟨10.3389/frobt.2021.703811⟩. ⟨hal-03556955⟩
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