arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2012.13191cs.CV

Appearance-Invariant 6-DoF Visual Localization using Generative Adversarial Networks

China Unicom(中国联通);AI Innovation and Application Center(人工智能创新应用中心)

Yimin Lin, Jianfeng Huang, Shiguo Lian

英文摘要:

We propose a novel visual localization network when outside environment has changed such as different illumination, weather and season. The visual localization network is composed of a feature extraction network and pose regression network. The feature extraction network is made up of an encoder network based on the Generative Adversarial Network CycleGAN, which can capture intrinsic appearance-invariant feature maps from unpaired samples of different weathers and seasons. With such an invariant feature, we use a 6-DoF pose regression network to tackle long-term visual localization in the presence of outdoor illumination, weather and season changes. A variety of challenging datasets for place recognition and localization are used to prove our visual localization network, and the results show that our method outperforms state-of-the-art methods in the scenarios with various environment changes.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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