Instant outdoor localization and SLAM initialization from 2.5D maps

IEEE Transactions on Visualization and Computer Graphics
Clemens ArthV Lepetit

Abstract

We present a method for large-scale geo-localization and global tracking of mobile devices in urban outdoor environments. In contrast to existing methods, we instantaneously initialize and globally register a SLAM map by localizing the first keyframe with respect to widely available untextured 2.5D maps. Given a single image frame and a coarse sensor pose prior, our localization method estimates the absolute camera orientation from straight line segments and the translation by aligning the city map model with a semantic segmentation of the image. We use the resulting 6DOF pose, together with information inferred from the city map model, to reliably initialize and extend a 3D SLAM map in a global coordinate system, applying a model-supported SLAM mapping approach. We show the robustness and accuracy of our localization approach on a challenging dataset, and demonstrate unconstrained global SLAM mapping and tracking of arbitrary camera motion on several sequences.

References

Mar 13, 2010·IEEE Transactions on Pattern Analysis and Machine Intelligence·Rafael Grompone von GioiGregory Randall
Jun 22, 2013·IEEE Transactions on Pattern Analysis and Machine Intelligence·Clément FarabetYann Lecun
Mar 22, 2014·IEEE Transactions on Visualization and Computer Graphics·Jonathan VenturaDieter Schmalstieg

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Citations

Dec 19, 2017·International Journal of Intelligent Robotics and Applications·Christian Landsiedel, Dirk Wollherr

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