919 research outputs found
Detection-by-Localization: Maintenance-Free Change Object Detector
Recent researches demonstrate that self-localization performance is a very
useful measure of likelihood-of-change (LoC) for change detection. In this
paper, this "detection-by-localization" scheme is studied in a novel
generalized task of object-level change detection. In our framework, a given
query image is segmented into object-level subimages (termed "scene parts"),
which are then converted to subimage-level pixel-wise LoC maps via the
detection-by-localization scheme. Our approach models a self-localization
system as a ranking function, outputting a ranked list of reference images,
without requiring relevance score. Thanks to this new setting, we can
generalize our approach to a broad class of self-localization systems. Our
ranking based self-localization model allows to fuse self-localization results
from different modalities via an unsupervised rank fusion derived from a field
of multi-modal information retrieval (MMR).Comment: 7 pages, 3 figures, Technical repor
LocNet: Global localization in 3D point clouds for mobile vehicles
Global localization in 3D point clouds is a challenging problem of estimating
the pose of vehicles without any prior knowledge. In this paper, a solution to
this problem is presented by achieving place recognition and metric pose
estimation in the global prior map. Specifically, we present a semi-handcrafted
representation learning method for LiDAR point clouds using siamese LocNets,
which states the place recognition problem to a similarity modeling problem.
With the final learned representations by LocNet, a global localization
framework with range-only observations is proposed. To demonstrate the
performance and effectiveness of our global localization system, KITTI dataset
is employed for comparison with other algorithms, and also on our long-time
multi-session datasets for evaluation. The result shows that our system can
achieve high accuracy.Comment: 6 pages, IV 2018 accepte
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Visual localization enables autonomous vehicles to navigate in their
surroundings and augmented reality applications to link virtual to real worlds.
Practical visual localization approaches need to be robust to a wide variety of
viewing condition, including day-night changes, as well as weather and seasonal
variations, while providing highly accurate 6 degree-of-freedom (6DOF) camera
pose estimates. In this paper, we introduce the first benchmark datasets
specifically designed for analyzing the impact of such factors on visual
localization. Using carefully created ground truth poses for query images taken
under a wide variety of conditions, we evaluate the impact of various factors
on 6DOF camera pose estimation accuracy through extensive experiments with
state-of-the-art localization approaches. Based on our results, we draw
conclusions about the difficulty of different conditions, showing that
long-term localization is far from solved, and propose promising avenues for
future work, including sequence-based localization approaches and the need for
better local features. Our benchmark is available at visuallocalization.net.Comment: Accepted to CVPR 2018 as a spotligh
Robust Place Recognition using an Imaging Lidar
We propose a methodology for robust, real-time place recognition using an
imaging lidar, which yields image-quality high-resolution 3D point clouds.
Utilizing the intensity readings of an imaging lidar, we project the point
cloud and obtain an intensity image. ORB feature descriptors are extracted from
the image and encoded into a bag-of-words vector. The vector, used to identify
the point cloud, is inserted into a database that is maintained by DBoW for
fast place recognition queries. The returned candidate is further validated by
matching visual feature descriptors. To reject matching outliers, we apply PnP,
which minimizes the reprojection error of visual features' positions in
Euclidean space with their correspondences in 2D image space, using RANSAC.
Combining the advantages from both camera and lidar-based place recognition
approaches, our method is truly rotation-invariant and can tackle reverse
revisiting and upside-down revisiting. The proposed method is evaluated on
datasets gathered from a variety of platforms over different scales and
environments. Our implementation is available at
https://git.io/imaging-lidar-place-recognitionComment: ICRA 202
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