Image-Based Localization Using LSTMs for Structured Feature Correlation

Walch F, Hazirbas C, Leal-Taixe L, Sattler T, Hilsenbeck S, Cremers D (2017)

Publication Type: Conference contribution

Publication year: 2017

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2017-October

Pages Range: 627-637

Conference Proceedings Title: Proceedings of the IEEE International Conference on Computer Vision

Event location: Venice, ITA

ISBN: 9781538610329

DOI: 10.1109/ICCV.2017.75

Abstract

In this work we propose a new CNN+LSTM architecture for camera pose regression for indoor and outdoor scenes. CNNs allow us to learn suitable feature representations for localization that are robust against motion blur and illumination changes. We make use of LSTM units on the CNN output, which play the role of a structured dimensionality reduction on the feature vector, leading to drastic improvements in localization performance. We provide extensive quantitative comparison of CNN-based and SIFT-based localization methods, showing the weaknesses and strengths of each. Furthermore, we present a new large-scale indoor dataset with accurate ground truth from a laser scanner. Experimental results on both indoor and outdoor public datasets show our method outperforms existing deep architectures, and can localize images in hard conditions, e.g., in the presence of mostly textureless surfaces, where classic SIFT-based methods fail.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Eidgenössische Technische Hochschule Zürich (ETHZ) / Swiss Federal Institute of Technology in Zurich CH Switzerland (CH) NavVis GmbH DE Germany (DE)

How to cite

APA:

Walch, F., Hazirbas, C., Leal-Taixe, L., Sattler, T., Hilsenbeck, S., & Cremers, D. (2017). Image-Based Localization Using LSTMs for Structured Feature Correlation. In Proceedings of the IEEE International Conference on Computer Vision (pp. 627-637). Venice, ITA: Institute of Electrical and Electronics Engineers Inc..

MLA:

Walch, F., et al. "Image-Based Localization Using LSTMs for Structured Feature Correlation." Proceedings of the 16th IEEE International Conference on Computer Vision, ICCV 2017, Venice, ITA Institute of Electrical and Electronics Engineers Inc., 2017. 627-637.

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