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VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP

Abstract: 

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics applications. Under these conditions, most traditional methods would fail to locate the camera. In this paper we present a visual localization algorithm that combines structure-based method and image-based method with semantic information. Given semantic information about the query and database images, the retrieved images are scored according to the semantic consistency of the 3D model and the query image. Then the semantic matching score is used as weight for RANSAC’s sampling and the pose is solved by a standard PnP solver. Experiments on the challenging long-term visual localization benchmark dataset demonstrate that our method has significant improvement compared with the state-of-the-arts.

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Paper Details

Authors:
Submitted On:
19 September 2019 - 5:21am
Short Link:
Type:
Poster
Event:
Presenter's Name:
SHI TIANXIN
Paper Code:
1666
Document Year:
2019
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VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP.pdf

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[1] , "VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4714. Accessed: Oct. 23, 2020.
@article{4714-19,
url = {http://sigport.org/4714},
author = { },
publisher = {IEEE SigPort},
title = {VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP},
year = {2019} }
TY - EJOUR
T1 - VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP
AU -
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4714
ER -
. (2019). VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP. IEEE SigPort. http://sigport.org/4714
, 2019. VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP. Available at: http://sigport.org/4714.
. (2019). "VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP." Web.
1. . VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4714