Visual Localization with Environment Outline Prior
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00358250" target="_blank" >RIV/68407700:21230/22:00358250 - isvavai.cz</a>
Result on the web
<a href="http://poseidon2.feld.cvut.cz/conf/poster/proceedings/POSTER_2022.pdf" target="_blank" >http://poseidon2.feld.cvut.cz/conf/poster/proceedings/POSTER_2022.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Visual Localization with Environment Outline Prior
Original language description
Visual localization is the task of estimating the camera position and orientation relative to a given environment representation, which is used in applications such as mobile robotics, autonomous driving, and augmented reality. Currently, the environment has to be scanned by a human operator or explored by an autonomous system to create a precise and detailed map, often taking a large amount of storage space. Our approach aims to circumvent the scanning phase and decrease the memory footprint by using a publicly available lightweight environment representation in the form of building floor plans or human-readable digital maps. We extract the outline of the environment visible in images and use hierarchical localization on top of the layout representation, using image retrieval for coarse pose estimate and refining the pose by ICP algorithm. We also try to entirely replace the images in the retrieval step with the extracted outline geometry. The initial experiments show that the approach might achieve reasonable performance while keeping the storage needed for environment and image representation at a minimum.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the International Student Scientific Conference Poster – 26/2022
ISBN
978-80-01-06992-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
146-151
Publisher name
Fakulta elektrotechnická
Place of publication
Praha
Event location
Praha
Event date
May 12, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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