{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/improving-visual-place-recognition-based","title":"Improving Visual Place Recognition Based Robot Navigation By Verifying Localization Estimates","arxiv_id":"2407.08162","date":"2024-07-11","proceeding":null,"authors":["Owen Claxton","Connor Malone","Helen Carson","Jason Ford","Gabe Bolton","Iman Shames","Michael Milford"],"abstract":"Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This research introduces a novel Multi-Layer Perceptron (MLP) integrity monitor which demonstrates improved performance and generalizability, removing per-environment training and reducing manual tuning requirements. We test our proposed system in extensive real-world experiments, presenting two real-time integrity-based VPR verification methods: a single-query rejection method for robot navigation to a goal zone (Experiment 1); and a history-of-queries method that takes a best, verified, match from its recent trajectory and uses an odometer to extrapolate a current position estimate (Experiment 2). Noteworthy results for Experiment 1 include a decrease in aggregate mean along-track goal error from ~9.8m to ~3.1m, and an increase in the aggregate rate of successful mission completion from ~41% to ~55%. Experiment 2 showed a decrease in aggregate mean along-track localization error from ~2.0m to ~0.5m, and an increase in the aggregate localization precision from ~97% to ~99%. Overall, our results demonstrate the practical usefulness of a VPR integrity monitor in real-world robotics to improve VPR localization and consequent navigation performance.","url_abs":"https://arxiv.org/abs/2407.08162v2","url_pdf":"https://arxiv.org/pdf/2407.08162v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"improving-visual-place-recognition-based","repo_url":"https://github.com/QVPR/aarapsiproject","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":null,"task_name":"Position"},{"task_slug":"robot-navigation","task_name":"Robot Navigation"},{"task_slug":"visual-place-recognition","task_name":"Visual Place Recognition"}],"methods":[{"method_slug":"svm","method_name":"SVM"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}