Loop detection in robotic navigation using MPEG CDVS

The choice for image descriptor in a visual navigation system is not straightforward. Descriptors must be distinctive enough to allow for correct localization while still offering low matching complexity and short descriptor size for real-time applications. MPEG Compact Descriptor for Visual Search is a low complexity image descriptor that offers several levels of compromises between descriptor distinctiveness and size. In this work we describe how these trade-offs can be used for efficient loop-detection in a typical indoor environment.