@inproceedings{3be0c49424da40b39b47196b43c4360a,
title = "Coresets for visual summarization with applications to loop closure",
abstract = "In continuously operating robotic systems, efficient representation of the previously seen camera feed is crucial. Using a highly efficient compression coreset method, we formulate a new method for hierarchical retrieval of frames from large video streams collected online by a moving robot. We demonstrate how to utilize the resulting structure for efficient loop-closure by a novel sampling approach that is adaptive to the structure of the video. The same structure also allows us to create a highly-effective search tool for large-scale videos, which we demonstrate in this paper. We show the efficiency of proposed approaches for retrieval and loop closure on standard datasets, and on a large-scale video from a mobile camera.",
author = "Mikhail Volkov and Guy Rosman and Dan Feldman and Fisher, {John W.} and Daniela Rus",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",
year = "2015",
month = jun,
day = "29",
doi = "https://doi.org/10.1109/ICRA.2015.7139704",
language = "American English",
volume = "2015-June",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",
pages = "3638--3645",
booktitle = "IEEE International Conference on Robotics and Automation (ICRA) 2015",
address = "United States",
edition = "June",
}