This paper presents a study on the use of Convolutional Neural Networks for camera relocalisation and its application to map compression. We follow state of the art visual relocalisation results and evaluate the response to different data inputs. We use a CNN map representation and introduce the notion of map compression under this paradigm by using smaller CNN architectures without sacrificing relocalisation performance. We evaluate this approach in a series of publicly available datasets over a number of CNN architectures with different sizes, both in complexity and number of layers. This formulation allows us to improve relocalisation accuracy by increasing the number of training trajectories while maintaining a constant-size CNN.
@cite_25 introduced the idea of egomotion in CNN training by concatenating the output of two parallel neural networks with two different views of the same image; at the end, this architecture learns valuable features independent of the point of view.
@cite_25
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Recently, neuron activations extracted from a pre-trained convolutional neural network (CNN) show promising performance in various visual tasks. However, due to the domain and task bias, using the features generated from the model pre-trained for image classification as image representations for instance retrieval is problematic. In this paper, we propose quartet-net learning to improve the discriminative power of CNN features for instance retrieval. The general idea is to map the features into a space where the image similarity can be better evaluated. Our network differs from the traditional Siamese-net in two ways. First, we adopt a double-margin contrastive loss with a dynamic margin tuning strategy to train the network which leads to more robust performance. Second, we introduce in the mimic learning regularization to improve the generalization ability of the network by preventing it from overfitting to the training data. Catering for the network learning, we collect a large-scale dataset, namely GeoPair, which consists of 68k matching image pairs and 63k non-matching pairs. Experiments on several standard instance retrieval datasets demonstrate the effectiveness of our method. A computer-implemented method for training a convolutional neural network (CNN) is presented. The method includes extracting coordinates of corresponding points in the first and second locations, identifying positive points in the first and second locations, identifying negative points in the first and second locations, training features that correspond to positive points of the first and second locations to move closer to each other, and training features that correspond to negative points in the first and second locations to move away from each other. The intermediate map responses of a Convolutional Neural Network (CNN) contain contextual knowledge about its input. In this paper, we present a framework that uses these activation maps from several layers of a CNN as features to a Deep Belief Network (DBN) using transfer learning to provide an understanding of an input image. We create a representation of these features and the training data and use them to extract more information from an image at the pixel level, hence gaining understanding of the whole image. We experimentally demonstrate the usefulness of our framework using a pretrained model and use a DBN to perform segmentation on the BAERI dataset of Synthetic Aperture Radar (SAR) imagery and the CAMVID dataset with a relatively smaller training dataset. Convolutional neural networks (CNNs) have shown great success in computer vision, approaching human-level performance when trained for specific tasks via application-specific loss functions. In this paper, we propose a method for augmenting and training CNNs so that their learned features are compositional. It encourages networks to form representations that disentangle objects from their surroundings and from each other, thereby promoting better generalization. Our method is agnostic to the specific details of the underlying CNN to which it is applied and can in principle be used with any CNN. As we show in our experiments, the learned representations lead to feature activations that are more localized and improve performance over non-compositional baselines in object recognition tasks.