Hierarchical Joint Scene Coordinate Classification and Regression for Visual Localization
Visual localization is pivotal to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature based methods solve the task by matching local descriptors between a query image and a pre-built 3D model. Recently, deep neural networks have been exploited to directly learn the mapping between raw pixels and 3D coordinates in the scene, and thus the matching is implicitly performed by the forward pass through the network. In this work, we present a new hierarchical joint classification-regression network to predict pixel scene coordinates in a coarse-to-fine manner from a single RGB image. The network consists of a series of output layers with each of them conditioned on the outputs of previous ones, where the final output layer regresses the coordinates and the others produce coarse location labels. Our experiments show that the proposed method outperforms the vanilla scene coordinate regression network and is more scalable to large environments. With data augmentation, it achieves the state-of-the-art single-image RGB localization performance on three benchmark datasets.
NurtureToken New!

Token crowdsale for this paper ends in

Buy Nurture Tokens

Authors

Are you an author of this paper? Check the Twitter handle we have for you is correct.

Xiaotian Li (add twitter)
Jakob Verbeek (add twitter)
Juho Kannala (add twitter)
Ask The Authors

Ask the authors of this paper a question or leave a comment.

Read it. Rate it.
#1. Which part of the paper did you read?

#2. The paper contains new data or analyses that is openly accessible?
#3. The conclusion is supported by the data and analyses?
#4. The conclusion is of scientific interest?
#5. The result is likely to lead to future research?

Github
User:
None (add)
Repo:
None (add)
Stargazers:
0
Forks:
0
Open Issues:
0
Network:
0
Subscribers:
0
Language:
None
Youtube
Link:
None (add)
Views:
0
Likes:
0
Dislikes:
0
Favorites:
0
Comments:
0
Other
Sample Sizes (N=):
Inserted:
Words Total:
Words Unique:
Source:
Abstract:
None
09/15/19 06:03PM
5,753
1,832
Tweets
arxivml: "Hierarchical Joint Scene Coordinate Classification and Regression for Visual Localization", Xiaotian Li, Jakob Ver… https://t.co/vbXxzvqmVW
arxiv_cscv: Hierarchical Joint Scene Coordinate Classification and Regression for Visual Localization https://t.co/ZlGTbbO1JO
BrundageBot: Hierarchical Joint Scene Coordinate Classification and Regression for Visual Localization. Xiaotian Li, Jakob Verbeek, and Juho Kannala https://t.co/rvQpXEt0Es
Images
Related