# Discriminative and Semantic Feature Selection for Place Recognition towards Dynamic Environments

arXiv: https://arxiv.org/abs/2103.10023 · HTML: https://mlsanity.com/paper/2103.10023/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 50 references that are in the map.
- First posted on arXiv 18 Mar 2021.

## Builds on (most cited first, 23 of 23)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [Deep High-Resolution Representation Learning for Human Pose Estimation](https://mlsanity.com/paper/1902.09212/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [HPatches: A benchmark and evaluation of handcrafted and learned local descriptors](https://mlsanity.com/paper/1704.05939/) (2017)
- [Large-Scale Image Retrieval with Attentive Deep Local Features](https://mlsanity.com/paper/1612.06321/) (2016)
- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [R2D2: Repeatable and Reliable Detector and Descriptor](https://mlsanity.com/paper/1906.06195/) (2019)
- [VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change](https://mlsanity.com/paper/2005.08135/) (2020)
- [Bayesian Triplet Loss: Uncertainty Quantification in Image Retrieval](https://mlsanity.com/paper/2011.12663/) (2020)
- [Generalized Contrastive Optimization of Siamese Networks for Place Recognition](https://mlsanity.com/paper/2103.06638/) (2021)
- [Localizing Discriminative Visual Landmarks for Place Recognition](https://mlsanity.com/paper/1904.06635/) (2019)
- [SEKD: Self-Evolving Keypoint Detection and Description](https://mlsanity.com/paper/2006.05077/) (2020)
- [CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure](https://mlsanity.com/paper/1910.14103/) (2019)
- [RaP-Net: A Region-wise and Point-wise Weighting Network to Extract Robust Features for Indoor Localization](https://mlsanity.com/paper/2012.00234/) (2020)

## Built on by (most cited first, 1 of 1)

- [Deep Neural Networks in Video Human Action Recognition: A Review](https://mlsanity.com/paper/2305.15692/) (2023)

## Abstract (arXiv)

Features play an important role in various visual tasks, especially in visual place recognition applied in perceptual changing environments. In this paper, we address the challenges of place recognition due to dynamics and confusable patterns by proposing a discriminative and semantic feature selection network, dubbed as DSFeat. Supervised by both semantic information and attention mechanism, we can estimate pixel-wise stability of features, indicating the probability of a static and stable region from which features are extracted, and then select features that are insensitive to dynamic interference and distinguishable to be correctly matched. The designed feature selection model is evaluated in place recognition and SLAM system in several public datasets with varying appearances and viewpoints. Experimental results conclude that the effectiveness of the proposed method. It should be noticed that our proposal can be readily pluggable into any feature-based SLAM system.