DeepAI AI Chat
Log In Sign Up

Deep-Geometric 6 DoF Localization from a Single Image in Topo-metric Maps

02/04/2020
by   Tom Roussel, et al.
KU Leuven
Ford Motor Company
5

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological nodes whose 6 DoF poses are known. Each topo-node in our map also comprises of a set of points, whose 2D features and 3D locations are stored as part of the mapping process. For the mapping phase, we utilise a stereo camera and a regular stereo visual SLAM pipeline. During the localization phase, we take a single camera image, localize it to a topological node using Deep Learning, and use a geometric algorithm (PnP) on the matched 2D features (and their 3D positions in the topo map) to determine the full 6 DoF globally consistent pose of the camera. Our method divorces the mapping and the localization algorithms and sensors (stereo and mono), and allows accurate 6 DoF pose estimation in a previously mapped environment using a single camera. With potential VR/AR and localization applications in single camera devices such as mobile phones and drones, our hybrid algorithm compares favourably with the fully Deep-Learning based Pose-Net that regresses pose from a single image in simulated as well as real environments.

READ FULL TEXT

page 1

page 3

page 4

page 5

02/06/2019

GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping

We present a Deep Learning based system for the twin tasks of localizati...
01/06/2023

CyberLoc: Towards Accurate Long-term Visual Localization

This technical report introduces CyberLoc, an image-based visual localiz...
05/08/2018

Visual Global Localization with a Hybrid WNN-CNN Approach

Currently, self-driving cars rely greatly on the Global Positioning Syst...
09/08/2019

AtLoc: Attention Guided Camera Localization

Deep learning has achieved impressive results in camera localization, bu...
06/08/2022

PixSelect: Less but Reliable Pixels for Accurate and Efficient Localization

Accurate camera pose estimation is a fundamental requirement for numerou...
04/08/2020

Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching

Pose estimation and map building are central ingredients of autonomous r...
07/02/2020

Localization and Mapping of Sparse Geologic Features with Unpiloted Aircraft Systems

Robotic mapping is attractive in many science applications that involve ...