Efficient 2D-3D Matching for Multi-Camera Visual Localization
Paper i proceeding, 2019

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multi-camera visual inertial localization algorithm for large scale environments. To efficiently and effectively match features against a pre-built global 3D map, we propose a prioritized feature matching scheme for multi-camera systems. In contrast to existing works, designed for monocular cameras, we (1) tailor the prioritization function to the multi-camera setup and (2) run feature matching and pose estimation in parallel. This significantly accelerates the matching and pose estimation stages and allows us to dynamically adapt the matching efforts based on the surrounding environment. In addition, we show how pose priors can be integrated into the localization system to increase efficiency and robustness. Finally, we extend our algorithm by fusing the absolute pose estimates with motion estimates from a multi-camera visual inertial odometry pipeline (VIO). This results in a system that provides reliable and drift-less pose estimation. Extensive experiments show that our localization runs fast and robust under varying conditions, and that our extended algorithm enables reliable real-time pose estimation.

Författare

Marcel Geppert

Eidgenössische Technische Hochschule Zürich (ETH)

Peidong Liu

Eidgenössische Technische Hochschule Zürich (ETH)

Zhaopeng Cui

Eidgenössische Technische Hochschule Zürich (ETH)

Marc Pollefeys

Microsoft

Eidgenössische Technische Hochschule Zürich (ETH)

Torsten Sattler

Chalmers, Elektroteknik, Signalbehandling och medicinsk teknik

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

5972-5978
978-1-5386-6026-3 (ISBN)

2019 International Conference on Robotics and Automation (ICRA)
Montreal, Canada,

Ämneskategorier

Robotteknik och automation

Signalbehandling

Datorseende och robotik (autonoma system)

DOI

10.1109/ICRA.2019.8794280

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Senast uppdaterat

2024-01-03