Visual place recognition from end-to-end semantic scene text features
Bibliographic record
Abstract
We live in a visual world where text cues are abundant in urban environments. The premise for our work is for robots to capitalize on these text features for visual place recognition. A new technique is introduced that uses an end-to-end scene text detection and recognition technique to improve robot localization and mapping through Visual Place Recognition (VPR). This technique addresses several challenges such as arbitrary shaped text, illumination variation, and occlusion. The proposed model captures text strings and associated bounding boxes specifically designed for VPR tasks. The primary contribution of this work is the utilization of an end-to-end scene text spotting framework that can effectively capture irregular and occluded text in diverse environments. We conduct experimental evaluations on the Self-Collected TextPlace (SCTP) benchmark dataset, and our approach outperforms state-of-the-art methods in terms of precision and recall, which validates the effectiveness and potential of our proposed approach for VPR.
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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 | 0.001 |
| Meta-epidemiology (narrow) | 0.002 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.002 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.006 | 0.009 |
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".