Image-Based Place Recognition Using Semantic Segmentation and Inpainting to Remove Dynamic Objects.

Place recognition is an important step in intelligent driving, allowing the vehicle recognize where it is to plan its route. Obtaining distinguishable features can ensure the success of image-based place recognition. However, generating robust features across drastically appearance changing images is still a challenging problem. Deep features are frequently chosen instead of local features in the tasks of place recognition following the development of convolutional neural networks. But even the deep features generated by powerful neural models can cause unsatisfactory recognition results. This is perhaps due to a lack of information selecting process. The technology of semantic segmentation allows recognizing and classifying image information. Semantic segmentation followed by image inpainting provide a possibility of detecting, deleting and reconstructing annoying information.