Histogram of Oriented Uniform Patterns for robust place recognition and categorization
Bibliographic record
Abstract
This paper presents a novel context-based scene recognition method that enables mobile robots to recognize previously observed topological places in known environments or categorize previously unseen places in new environments. We achieve this by introducing the Histogram of Oriented Uniform Patterns (HOUP), which provides strong discriminative power for place recognition, while offering a significant level of generalization for place categorization. HOUP descriptors are used for image representation within a subdivision framework, where the size and location of sub-regions are determined using an informative feature selection method based on kernel alignment. Further improvement is achieved by developing a similarity measure that accounts for perceptual aliasing to eliminate the effect of indistinctive but visually similar regions that are frequently present in outdoor and indoor scenes. An extensive set of experiments reveals the excellent performance of our method on challenging categorization and recognition tasks. Specifically, our proposed method outperforms the current state of the art on two place categorization datasets with 15 and 5 place categories, and two topological place recognition datasets, with 5 and 27 places.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.003 | 0.003 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".