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C-: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities | IEEE Journals & Magazine | IEEE Xplore

C{}^{*}: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities


Abstract:

We present a monocular camera localization technique for a three-dimensional prior map. Visual localization has been attracting considerable attention as a lightweight an...Show More

Abstract:

We present a monocular camera localization technique for a three-dimensional prior map. Visual localization has been attracting considerable attention as a lightweight and widely available localization technique for any mobilities; however, it still suffers from appearance changes and a high computational cost. With a view to achieving robust and real-time visual localization, we first reduce the localization problem to alternate local tracking and occasional keyframe rendering by following a simultaneous tracking and rendering algorithm. At the same time, by using an information-theoretic metric denoted normalized information distance in the local tracking, we developed a 6-DoF localization method robust to intensity variations between modalities and varying sensor properties. We quantitatively evaluated the accuracy and robustness of our method using both synthetic and real datasets and achieved reliable and practical localization even in the case of extreme appearance changes.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 4, October 2020)
Page(s): 5229 - 5236
Date of Publication: 03 July 2020

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