Chinese Journal of Liquid Crystals and Displays, Volume. 39, Issue 9, 1233(2024)
Visual place recognition method based on parallel omni-dimensional dynamic attention mechanism
Fig. 1. Flowchart of visual place recognition based on POD attention mechanism
Fig. 5. Comparison of Grad-CAM experiments under different environmental changes
Table 1. Experimental comparison results to validate the effectiveness of POD under the Nordland dataset
View tableView in ArticleTable 1. Experimental comparison results to validate the effectiveness of POD under the Nordland dataset
方法 Recall@1 Recall@5 Recall@10 NetVLAD
NetVLAD&POD
Patch-NetVLAD
Patch-NetVLAD&POD
13.0
18.1
44.9
54.6
20.6
33.9
50.2
64.4
25.0
41.7
52.2
68.0
Table 2. Comparison results for each network under the nordland dataset
View tableView in ArticleTable 2. Comparison results for each network under the nordland dataset
方法 Recall@1 Recall@5 Recall@10 Conv-AP
DELG global
DELG local
HEAPUtil
NetVLAD&GPM
Patch-NetVLAD&POD
38.2
23.4
60.1
29.3
38.5
54.6
54.8
35.4
63.5
—
53.9
64.4
61.2
41.7
64.6
—
60.7
68.0
Table 3. Comparison results of each algorithms under the mapillary dataset
View tableView in ArticleTable 3. Comparison results of each algorithms under the mapillary dataset
方法 Recall@1 Recall@5 Recall@10 NetVLAD
NetVLAD&POD
Patch-NetVLAD
Patch-NetVLAD&POD
58.6
63.6
76.3
78.1
71.2
76.0
79.8
81.9
76.1
80.2
86.0
87.1
Table 4. Comparison of indicators before and after the addition of POD to Resnet18 and Mobilenet v3
View tableView in ArticleTable 4. Comparison of indicators before and after the addition of POD to Resnet18 and Mobilenet v3
方法 Recall
@1
Recall
@5
Recall
@10
Recall
@20
Mobilenetv3
Mobilenetv3&POD
Resnet18
Resnet18&POD
45.8
46.9
46.7
52.9
59.9
62.0
62.4
69.0
67.4
69.8
70.3
74.4
73.1
76.5
77.7
78.5
Table 5. Running time testing experiment of improved visual place recognition algorithm
View tableView in ArticleTable 5. Running time testing experiment of improved visual place recognition algorithm
测试配置 VGG16&
POD
Resnet18&
POD
Mobilenetv3&POD GPU
机器人
0.05
0.88
0.03
0.41
0.02
0.35
Table 6. Comparison of experiments with the addition of different attention mechanisms
View tableView in ArticleTable 6. Comparison of experiments with the addition of different attention mechanisms
方法 Recall@1 Recall@5 Recall@10 Resnet18
Resnet18&SE
Resnet18&CBAM
Resnet18&POD
46.7
49.6
50.0
52.9
62.4
63.6
64.0
69.0
70.3
71.1
71.9
74.4
Table 7. Effect of different blocks in the POD attention
View tableView in ArticleTable 7. Effect of different blocks in the POD attention
方法 Recall@1 Recall@5 Recall@10 Resnet18
Resnet18&SSE
Resnet18&OD
Resnet18&POD
46.7
47.1
50.4
52.9
62.4
64.0
66.5
69.0
70.3
71.1
72.4
74.4
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Peijin LIU, Shujie LIU, Lin HE, Lijun PENG, Xuefeng FU. Visual place recognition method based on parallel omni-dimensional dynamic attention mechanism[J]. Chinese Journal of Liquid Crystals and Displays, 2024, 39(9): 1233
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Received: Oct. 16, 2023
Accepted: --
Published Online: Nov. 13, 2024
The Author Email: Lin HE (helin716@xauat.edu.cn)
