Monocular Urban Localization using Street View

Li Yu; Cyril Joly; Guillaume Bresson; Fabien Moutarde

Monocular Urban Localization using Street View

Li Yu ^{1, 2} Cyril Joly ¹ Guillaume Bresson ² Fabien Moutarde ¹

2 VeDeCom - VEhicule DEcarboné et COmmuniquant et sa Mobilité

Abstract : This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric structure to build a coarse-to-fine positioning, namely a topolog-ical place recognition process and then a metric pose estimation by local bundle adjustment. Our method is tested on a 3 km urban environment and demonstrates both sub-meter accuracy and robustness to viewpoint changes, illumination and occlusion. To our knowledge, this is the first work that studies the global urban localization simply with a single camera and Street View.

Type de document :

Communication dans un congrès

14th International Conference on Control, Automation, Robotics and Vision (ICARCV'2016), Nov 2016, Phuket, Thailand. Proceedings of the14th International Conference on Control, Automation, Robotics and Vision (ICARCV'2016)

Domaine :

Informatique [cs] / Vision par ordinateur et reconnaissance de formes [cs.CV]

Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01425639
Contributeur : Fabien Moutarde <>
Soumis le : mardi 3 janvier 2017 - 16:57:00
Dernière modification le : lundi 12 novembre 2018 - 10:54:20
Document(s) archivé(s) le : mardi 4 avril 2017 - 14:44:02

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