HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Geometric-visual descriptor for improved image based localization

Abstract : This paper addresses the problem of image based localization. The goal is to find quickly and accurately the relative pose from a query taken from a stereo camera and a map obtained using visual SLAM which contains poses and 3D points associated to descriptors. In this paper we introduce a new method that leverages the stereo vision by adding geometric information to visual descriptors. This method can be used when the vertical direction of the camera is known (for example on a wheeled robot). This new geometric visual descriptor can be used with several image based localization algorithms based on visual words. We test the approach with different datasets (indoor, outdoor) and we show experimentally that the new geometric-visual descriptor improves standard image based localization approaches.
Document type :
Conference papers
Complete list of metadata

https://hal.uca.fr/hal-03024935
Contributor : Eric Royer Connect in order to contact the contributor
Submitted on : Thursday, November 26, 2020 - 9:41:32 AM
Last modification on : Wednesday, November 3, 2021 - 8:12:52 AM
Long-term archiving on: : Saturday, February 27, 2021 - 6:24:58 PM

File

Geometric_visual_descriptor_fo...
Files produced by the author(s)

Licence


Distributed under a Creative Commons Attribution 4.0 International License

Identifiers

  • HAL Id : hal-03024935, version 1

Citation

Achref Ouni, Eric Royer, Marc Chevaldonné, Michel Dhome. Geometric-visual descriptor for improved image based localization. VCIP, Dec 2020, MACAO, China. ⟨hal-03024935⟩

Share

Metrics

Record views

43

Files downloads

143