Life-Long Place Recognition by Shared Representative Appearance Learning Fei Han 1 , Xue Yang 1 , Yiming Deng 2 , Mark Rentschler 3 , Dejun Yang 1 , and Hao Zhang 1 1. Division of Computer Science, Colorado School of Mines 2. Department of Electrical Engineering, University of Colorado Denver 3. Department of Mechanical Engineering, University of Colorado Boulder
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Life-Long Place Recognition by Shared Representative
Appearance Learning
Fei Han1, Xue Yang1, Yiming Deng2,
Mark Rentschler3, Dejun Yang1, and Hao Zhang1
1. Division of Computer Science, Colorado School of Mines
2. Department of Electrical Engineering, University of Colorado Denver
3. Department of Mechanical Engineering, University of Colorado Boulder
Introduction
This work addresses long-term place recognition with strong appearance variations
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Spring Summer
Autumn Winter
Morning
Afternoon
October
December
Introduction
The Problem
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• Which feature is more representative while insensitive to appearance changes?
• How to fuse these heterogeneous feature modalities?
Contributions
Shared Representative Appearance Learning (SRAL) model for long-term place recognition