6D Camera Relocalization in Visually Ambiguous Extreme Environments

07/13/2022
by   Yang Zheng, et al.
7

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted by textureless surfaces, image degradation, and presence of repetitive and highly ambiguous structures. When naively deployed, the state-of-the-art methods can fail in those scenarios as confirmed by our empirical analysis. In this paper, we attempt to make camera relocalization work in these extreme situations. To this end, we propose: (i) a hierarchical localization system, where we leverage temporal information and (ii) a novel environment-aware image enhancement method to boost the robustness and accuracy. Our extensive experimental results demonstrate superior performance in favor of our method under two extreme settings: localizing an autonomous underwater vehicle and localizing a planetary rover in a Mars-like desert. In addition, our method achieves comparable performance with state-of-the-art methods on the indoor benchmark (7-Scenes dataset) using only 20 data.

READ FULL TEXT

page 2

page 4

page 7

page 13

page 15

research
04/09/2020

6D Camera Relocalization in Ambiguous Scenes via Continuous Multimodal Inference

We present a multimodal camera relocalization framework that captures am...
research
01/05/2023

A Probabilistic Framework for Visual Localization in Ambiguous Scenes

Visual localization allows autonomous robots to relocalize when losing t...
research
04/11/2022

Bimodal Camera Pose Prediction for Endoscopy

Deducing the 3D structure of endoscopic scenes from images remains extre...
research
06/14/2023

Investigation of the Challenges of Underwater-Visual-Monocular-SLAM

In this paper, we present a comprehensive investigation of the challenge...
research
03/31/2020

Real-Time Camera Pose Estimation for Sports Fields

Given an image sequence featuring a portion of a sports field filmed by ...
research
12/08/2020

Robust Neural Routing Through Space Partitions for Camera Relocalization in Dynamic Indoor Environments

Localizing the camera in a known indoor environment is a key building bl...

Please sign up or login with your details

Forgot password? Click here to reset