Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition

摘要

Visual Place Recognition (VPR) is a critical task for performing global re-localization in visual perception systems. It requires the ability to accurately recognize a previously visited location under variations such as illumination, occlusion, appearance and viewpoint. In the case of robotic systems and augmented reality, the target devices for deployment are battery powered edge devices. Therefore whilst the accuracy of VPR methods is important so too is memory consumption and latency. Recently new works have focused on the recall@1 metric as a performance measure with limited focus on resource utilization. This has resulted in methods that use deep learning models too large to deploy on low powered edge devices. We hypothesize that these large models are highly over-parameterized and can be optimized to satisfy the constraints of a low powered embedded system whilst maintaining high recall performance. Our work studies the impact of compact convolutional network architecture design in combination with full-precision and mixed-precision post-training quantization on VPR performance. Importantly we not only measure performance via the recall@1 score but also measure memory consumption and latency. We characterize the design implications on memory, latency and recall scores and provide a number of design recommendations for VPR systems under these resource limitations.