Name
Title | ||
|---|---|---|
Early Bird: Loop Closures From Opposing Viewpoints For Perceptually-Aliased Indoor Environments |
Abstract | ||
|---|---|---|
Significant recent advances have been made in Visual Place Recognition (VPR), feature correspondence and localization due to deep-learning-based methods. However, existing approaches tend to address, partially or fully, only one of two key challenges: viewpoint change and perceptual aliasing. In this paper, we present novel research that simultaneously addresses both challenges by combining deep-learnt features with geometric transformations based on domain knowledge about navigation on a ground-plane, without specialized hardware (e.g. downwards facing cameras, etc.). In particular, our integration of VPR with SLAM by leveraging the robustness of deep-learnt features and our homography-based extreme viewpoint invariance significantly boosts the performance of VPR, feature correspondence and pose graph sub-modules of the SLAM pipeline. We demonstrate a localization system capable of state-of-the-art performance despite perceptual aliasing and extreme 180-degree-rotated viewpoint change in a range of real-world and simulated experiments. Our system is able to achieve early loop closures that prevent significant drifts in SLAM trajectories. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.5220/0010230804090416 | VISAPP: PROCEEDINGS OF THE 16TH INTERNATIONAL JOINT CONFERENCE ON COMPUTER VISION, IMAGING AND COMPUTER GRAPHICS THEORY AND APPLICATIONS - VOL. 5: VISAPP |
Keywords | DocType | Citations |
Visual Place Recognition, Homography, Image Representation, Pose Graph Optimization, Correspondences Detection | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Satyajit Tourani | 1 | 0 | 0.34 |
| Dhagash Desai | 2 | 0 | 0.34 |
| Udit Singh Parihar | 3 | 0 | 0.68 |
| Sourav Garg | 4 | 0 | 0.68 |
| Ravi Kiran Sarvadevabhatla | 5 | 7 | 8.41 |
| Michael Milford | 6 | 1221 | 84.09 |