SUE Spatial Uncertainty for Visual Place Recognition
This poster introduces Spatial Uncertainty Estimation (SUE), a method that fits a Gaussian to the poses of top-K retrieved images to estimate uncertainty in Visual Place Recognition (VPR), demonstrating superior efficiency and accuracy compared to methods like DUE and GV.
论文上下文
Paper title: On the Estimation of Image-matching Uncertainty in Visual Place Recognition Abstract: This poster introduces Spatial Uncertainty Estimation (SUE), a method that fits a Gaussian to the poses of top-K retrieved images to estimate uncertainty in Visual Place Recognition (VPR), demonstrating superior efficiency and accuracy compared to methods like DUE and GV. Paper body (method & results): <!DOCTYPE html> <html lang="en"> <head> <meta content="text/html; charset=utf-8" http-equiv="content-type"/> <title>On the Estimation of Image-matching Uncertainty in Visual Place Recognition</title> <!--Generated on Thu May 2 19:34:42 2024 by LaTeXML (version 0.8.8) http://dlmf.nist.gov/LaTeXML/.--> <meta content="width=device-width, initial-scale=1, shrink-to-fit=no" name="viewport"/> <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/css/bootstrap.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/ar5iv.0.7.9.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/ar5iv-fonts.0.7.9.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/latexml_styles.css" rel="stylesheet" type="text/css"/> <script src="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/js/bootstrap.bundle.min.js"></script> <script src="https://cdnjs.cloudflare.com/ajax/libs/html2canvas/1.3.3/html2canvas.min.js"></script> <script src="/static/browse/0.3.4/js/addons_new.js"></script> <script src="/static/browse/0.3.4/js/feedbackOverlay.js"></script> <base href="/html/2404.00546v1/"/></head> <body> <nav class="ltx_page_navbar"> <nav class="ltx_TOC"> <ol class="ltx_toclist"> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S1" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">1 </span>Introduction</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S2" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">2 </span>Related work</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3 </span>Methodology</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3.SS1" title="In 3 Methodology ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.1 </span>Uncertainty estimation in VPR</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3.SS2" title="In 3 Methodology ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.2 </span>Formalizing VPR</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3.SS3" title="In 3 Methodology ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.3 </span>Current VPR uncertainty estimation categories</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3.SS4" title="In 3 Methodology ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.4 </span>Spatial uncertainty estimation (<span class="ltx_text ltx_font_bold ltx_font_italic">SUE</span>) for VPR</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S3.SS5" title="In 3 Methodology ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.5 </span>Complementing geometric verification</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4 </span>Experiments</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4.SS1" title="In 4 Experiments ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.1 </span>Experimental setup</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4.SS2" title="In 4 Experiments ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.2 </span>Performance comparison</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4.SS3" title="In 4 Experiments ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.3 </span>Complementing geometric verification</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4.SS4" title="In 4 Experiments ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.4 </span>Ablation study</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S4.SS5" title="In 4 Experiments ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.5 </span>Discussion</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S5" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5 </span>Conclusions</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6" title="In On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6 </span>Supplementary Material</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS1" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.1 </span>More ablation studies of SUE</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS2" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.2 </span>A probabilistic view of SUE</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS3" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.3 </span>Spatial density compensation for dissimilar query/reference spatial distributions</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"> <a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS4" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.4 </span>Validating spatial density compensation</span></a> <ol class="ltx_toclist ltx_toclist_subsection"> <li class="ltx_tocentry ltx_tocentry_paragraph"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS4.SSS0.Px1" title="In 6.4 Validating spatial density compensation ‣ 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title">Applying a uniform spatial prior for the query</span></a></li> <li class="ltx_tocentry ltx_tocentry_paragraph"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS4.SSS0.Px2" title="In 6.4 Validating spatial density compensation ‣ 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title">Do common datasets have a uniform query distribution?</span></a></li> <li class="ltx_tocentry ltx_tocentry_paragraph"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS4.SSS0.Px3" title="In 6.4 Validating spatial density compensation ‣ 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title">Does assuming a uniform query distribution help?</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS5" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.5 </span>Precision-Recall curves</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS6" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.6 </span>Complementing geometric verification</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS7" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.7 </span><span class="ltx_text ltx_font_bold" style="color:#000000;">SUE combined with other uncertainty estimates</span></span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="https://arxiv.org/html/2404.00546v1#S6.SS8" title="In 6 Supplementary Material ‣ On the Estimation of Image-matching Uncertainty in Visual Place Recognition"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6.8 </span>Relating SUE to geometri
