レーダー測位のためのロバストキーポイント学習
Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar
微分可能な点ベース運動推定器を組み込み、測位誤差のみからレーダーのキーポイント位置・スコア・記述子を自己教師ありで学習し、オドメトリ精度を最大45%改善した。
著者: Dan Barnes, Ingmar Posner
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn keypoint locations, scores and descriptors from localisation error alone. This approach avoids imposing any assumption on what makes a robust keypoint and crucially allows them to be optimised for our application. Furthermore the architecture is sensor agnostic and can be applied to most modalities. We run experiments on 280km of real world driving from the Oxford Radar RobotCar Dataset and improve on the state-of-the-art in point-based radar odometry, reducing errors by up to 45% whilst running an order of magnitude faster, simultaneously solving metric loop closures. Combining these outputs, we provide a framework capable of full mapping and localisation with radar in urban environments.
