FreeLoc: 拡散モデルによる姿勢精緻化を用いたオンライン間取り図ローカリゼーション
FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement
間取り図を直接クエリ可能な幾何マップとして扱い、拡散モデルで姿勢を精緻化することで、オフラインデータベース不要のリアルタイムRGBローカリゼーションを実現した。
詳しい要約
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著者: Haocheng Peng, Boyang Zhou, Jiarui Hu, Xiyue Guo, Ziyang Zhang, Boming Zhao, Yifan Gao, Xiao Li, Hujun Bao, Zhaopeng Cui
分類: cs.RO, cs.CV
原文アブストラクト
Floorplans provide compact and widely available geometric maps for indoor localization, but existing high-performing floorplan-based methods still convert them into dense scene-specific offline databases, tying accuracy, storage, and runtime to the sampling resolution of the discretized pose space. We present FreeLoc, an online RGB-based floorplan localization framework that treats the floorplan as a directly queryable geometric map. FreeLoc introduces an efficient online geometric querying and diffusion-aided refinement scheme, which retrieves plausible pose anchors through on-the-fly floorplan ray querying and refines them into accurate continuous pose estimates. For sequential localization, FreeLoc develops an online likelihood construction strategy that bridges single-frame localization and probabilistic temporal fusion by constructing likelihoods from coarse-sampled candidates and refined pose hypotheses, enabling histogram-filter-based temporal fusion without offline databases. Experiments demonstrate real-time online inference and state-of-the-art performance in both single-frame and sequential localization, while real-world results validate practical deployability in indoor robotic localization scenarios.
