ストリートビューを用いた単眼カメラによる都市環境のグローバル自己位置推定
Monocular Urban Localization using Street View
単眼カメラとGoogleストリートビューのデータベースのみを用いて、都市環境でサブメートル精度のグローバル自己位置推定を実現した研究。
著者: Li Yu, Cyril Joly, Guillaume Bresson, Fabien Moutarde
分類: cs.RO, cs.CV
原文アブストラクト
This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric structure to build a coarse-to-fine positioning, namely a topological place recognition process and then a metric pose estimation by local bundle adjustment. Our method is tested on a 3 km urban environment and demonstrates both sub-meter accuracy and robustness to viewpoint changes, illumination and occlusion. To our knowledge, this is the first work that studies the global urban localization simply with a single camera and Street View.
