Cross-View Camera Pose Estimation by Matching Local Features in 3D

This work addresses visual localization of intelligent vehicles as an alternative to traditional GPS- of HD map-based localization options. Specifically, the problem of Cross-View Pose Estimation (CVPE) is explored, which involves estimating the vehicle pose within an encompassing aerial patch, given a ground image from the on-board camera feed....

SliceNet: Street-to-Satellite Image Metric Localization using Local Feature Matching

This work addresses visual localization for intelligent vehicles. The task of cross-view matching-based localization is to estimate the geo-location of a vehicle-mounted camera by matching the captured street view image with an overhead-view satellite map containing the vehicle's local surroundings. This local satellite view image can be...

Sequence-Based Filtering for Visual Route-Based Navigation: Analyzing the Benefits, Trade-Offs and Design Choices

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes. An emerging trend in VPR is the use of sequence-based filtering methods on top of single-frame-based place matching techniques for route-based navigation. The combination...

ConvSequential-SLAM: A Sequence-Based, Training-Less Visual Place Recognition Technique for Changing Environments

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from appearance changes and the latter have significant computational needs. In this paper, we present a new...