符号付距離場を用いた単眼カメラのメートル法ローカリゼーション
Metric Monocular Localization Using Signed Distance Fields
SDFをグローバル地図表現として用い、距離情報と視覚的制約を統合して単眼カメラの自己位置推定とオドメトリのドリフト補正を同時に行う手法を提案した。
著者: Huaiyang Huang, Yuxiang Sun, Haoyang Ye, Ming Liu
分類: cs.RO
原文アブストラクト
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure. In this paper, we present a metric localization method for the monocular camera, using the Signed Distance Field (SDF) as a global map representation. Leveraging the volumetric distance information from SDFs, we aim to relax the assumption of an accurate structure from the local Bundle Adjustment (BA) in previous methods. By tightly coupling the distance factor with temporal visual constraints, our system corrects the odometry drift and jointly optimizes global camera poses with the local structure. We validate the proposed approach on both indoor and outdoor public datasets. Compared to the state-of-the-art methods, it achieves a comparable performance with a minimal sensor configuration.
