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incremental dimensionality reduction

Robotica (1)

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Development of a Method for Data Dimensionality Reduction in Loop Closure Detection: An Incremental Approach
Leandro A. S. Moreira, Claudia M. Justel, Jauvane C. de Oliveira, Paulo F. F. Rosa
Journal:

Robotica / Volume 39 / Issue 4 / April 2021

Published online by Cambridge University Press:

17 July 2020, pp. 557-571
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This article proposes a method for incremental data dimensionality reduction in loop closure detection for robotic autonomous navigation. The approach uses dominant eigenvector concept for: (a) spectral description of visual datasets and (b) representation in low dimension. Unlike most other papers on data dimensionality reduction (which is done in batch mode), our method combines a sliding window technique and coordinate transformation to achieve dimensionality reduction in incremental data. Experiments in both simulated and real scenarios were performed and the results are suitable.