70 research outputs found
Scene Coordinate Regression with Angle-Based Reprojection Loss for Camera Relocalization
Image-based camera relocalization is an important problem in computer vision
and robotics. Recent works utilize convolutional neural networks (CNNs) to
regress for pixels in a query image their corresponding 3D world coordinates in
the scene. The final pose is then solved via a RANSAC-based optimization scheme
using the predicted coordinates. Usually, the CNN is trained with ground truth
scene coordinates, but it has also been shown that the network can discover 3D
scene geometry automatically by minimizing single-view reprojection loss.
However, due to the deficiencies of the reprojection loss, the network needs to
be carefully initialized. In this paper, we present a new angle-based
reprojection loss, which resolves the issues of the original reprojection loss.
With this new loss function, the network can be trained without careful
initialization, and the system achieves more accurate results. The new loss
also enables us to utilize available multi-view constraints, which further
improve performance.Comment: ECCV 2018 Workshop (Geometry Meets Deep Learning
Exploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization
Camera relocalization plays a vital role in many robotics and computer vision
tasks, such as global localization, recovery from tracking failure and loop
closure detection. Recent random forests based methods exploit randomly sampled
pixel comparison features to predict 3D world locations for 2D image locations
to guide the camera pose optimization. However, these image features are only
sampled randomly in the images, without considering the spatial structures or
geometric information, leading to large errors or failure cases with the
existence of poorly textured areas or in motion blur. Line segment features are
more robust in these environments. In this work, we propose to jointly exploit
points and lines within the framework of uncertainty driven regression forests.
The proposed approach is thoroughly evaluated on three publicly available
datasets against several strong state-of-the-art baselines in terms of several
different error metrics. Experimental results prove the efficacy of our method,
showing superior or on-par state-of-the-art performance.Comment: published as a conference paper at 2018 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS
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