Supervised and Unsupervised Linear Learning Techniques for Visual Place Recognition in Changing Environments

摘要

This paper investigates the application of linear learning techniques to the place recognition problem. We present two learning methods, a supervised change prediction technique based on linear regression and an unsupervised change removal technique based on principal component analysis, and investigate how the performance of each is affected by the choice of training data. We show that the change prediction technique presented here succeeds only if it is provided with appropriate and adequate training data, which can be challenging for a mobile robotic system operating in an uncontrolled environment. In contrast, change removal can improve place recognition performance even when trained with as few as 100 samples. This paper shows that change removal can be combined with a number of different image descriptors and can improve performance across a range of different appearance conditions.