A Transfer Learning Approach for Multi-Cue Semantic Place Recognition

As researchers are continuously striving for developing robotic systems able to move into the ’the wild’, the interest towards novel learning paradigms for domain adaptation has increased. In the specific application of semantic place recognition from cameras, supervised learning algorithms are typically adopted. However, once learning have been performed, if the robot is moved to another location, the acquired knowledge may be not useful, as the novel scenario can be very different from the old one. The obvious solution would be to retrain the model updating the robot internal representation of the environment. Unfortunately this procedure involves a very time consuming data-labeling effort at the human side. To avoid these issues, in this paper we propose a novel transfer learning approach for place categorization from visual cues. With our method the robot is able to decide automatically if and how much its internal knowledge is useful in the novel scenario. Differently from previous approaches, we consider the situation where the old and the novel scenario may differ significantly (not only the visual room appearance changes but also different room categories are present). Importantly, our approach does not require labeling from a human operator. We also propose a strategy for improving the performance of the proposed method optimally fusing two complementary visual cues. Our extensive experimental evaluation demonstrates the advantages of our approach on several sequences from publicly available datasets.