Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Improving Condition- and Environment-Invariant Place Recognition with
  Semantic Place Categorization   The place recognition problem comprises two distinct subproblems; recognizing
a specific location in the world ("specific" or "ordinary" place recognition)
and recognizing the type of place (place categorization). Both are important
competencies for mobile robots and have each received significant attention in
the robotics and computer vision community, but usually as separate areas of
investigation. In this paper, we leverage the powerful complementary nature of
place recognition and place categorization processes to create a new hybrid
place recognition system that uses place context to inform place recognition.
We show that semantic place categorization creates an informative natural
segmenting of physical space that in turn enables significantly better place
recognition performance in comparison to existing techniques. In particular,
this new semantically informed approach adds robustness to significant local
changes within the environment, such as transitioning between indoor and
outdoor environments or between dark and light rooms in a house, complementing
the capabilities of current condition-invariant techniques that are robust to
globally consistent change (such as day to night cycles). We perform
experiments using 4 benchmark and new datasets and show that
semantically-informed place recognition outperforms the previous
state-of-the-art systems. Like it does for object recognition [1], we believe
that semantics can play a key role in boosting conventional place recognition
and navigation performance for robotic systems.

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The categories of this paper are: hep-lat
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The categories of this paper are: comp-gas
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The categories of this paper are: math-ph
31
The categories of this paper are: ao-sci
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The categories of this paper are: nucl-th
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The categories of this paper are: funct-an
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The categories of this paper are: quant-ph
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The categories of this paper are: q-fin
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The categories of this paper are: cond-mat
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The categories of this paper are: hep-ph
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The categories of this paper are: eess
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The categories of this paper are: q-alg
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The categories of this paper are: solv-int
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The categories of this paper are: bayes-an
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The categories of this paper are: chao-dyn
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The categories of this paper are: acc-phys