C*: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities
C*: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities
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DOI：
10.1109/lra.2020.3007120
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Miura, Jun
中科院分区：
文献类型：
--
作者：
Oishi, Shuji;Kawamata, Yasunori;Miura, Jun
我们提出了一个单目摄像机定位技术的三维先验地图。视觉定位作为一种轻便且广泛适用于任何移动性的定位技术，已经引起了相当大的关注;然而，它仍然受到外观变化和高计算成本的影响。为了实现鲁棒和实时的视觉定位，我们首先减少了本地化的问题，交替本地跟踪和偶尔的关键帧渲染以下的同步跟踪和渲染算法。同时，通过在局部跟踪中使用表示归一化信息距离的信息理论度量，我们开发了一种对模态之间的强度变化和变化的传感器属性具有鲁棒性的6-DoF定位方法。我们使用合成和真实的数据集定量评估了我们的方法的准确性和鲁棒性，即使在极端外观变化的情况下也实现了可靠和实用的定位。
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.