Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization

In this paper we propose an affordable solution to self-localization, which utilizes visual odometry and road maps as the only inputs. To this end, we present a probabilistic model as well as an efficient approximate inference algorithm, which is able to utilize distributed computation to meet the r...

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Bibliographic Details
Published in2013 IEEE Conference on Computer Vision and Pattern Recognition pp. 3057 - 3064
Main Authors Brubaker, Marcus A., Geiger, Andreas, Urtasun, Raquel
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
Accuracy
Approximation methods
Global Positioning System
localization
mixture model
Probabilistic logic
Roads
Vehicles
visual odometry
Visualization
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Summary:In this paper we propose an affordable solution to self-localization, which utilizes visual odometry and road maps as the only inputs. To this end, we present a probabilistic model as well as an efficient approximate inference algorithm, which is able to utilize distributed computation to meet the real-time requirements of autonomous systems. Because of the probabilistic nature of the model we are able to cope with uncertainty due to noisy visual odometry and inherent ambiguities in the map (e.g., in a Manhattan world). By exploiting freely available, community developed maps and visual odometry measurements, we are able to localize a vehicle up to 3m after only a few seconds of driving on maps which contain more than 2,150km of drivable roads.
ISSN:1063-6919
1063-6919
DOI:10.1109/CVPR.2013.393