CoordiNet: 不確実性を考慮した車両ローカリゼーションのための姿勢回帰ネットワーク
CoordiNet: uncertainty-aware pose regressor for reliable vehicle localization
単一画像からカメラ姿勢とその不確実性を同時に推定するCNNベースの手法を提案し、EKFと融合して車両ローカリゼーションの精度と信頼性を向上させた。
著者: Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation) directly from a single image. It also provides an uncertainty estimate of the pose. Pose and uncertainty are learned together with a single loss function and are fused at test time with an EKF. Furthermore, we propose a new fully convolutional architecture, named CoordiNet, designed to embed some of the scene geometry. Our framework outperforms comparable methods on the largest available benchmark, the Oxford RobotCar dataset, with an average error of 8 meters where previous best was 19 meters. We have also investigated the performance of our method on large scenes for real time (18 fps) vehicle localization. In this setup, structure-based methods require a large database, and we show that our proposal is a reliable alternative, achieving 29cm median error in a 1.9km loop in a busy urban area
