Monocular Urban Localization using Street View

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.
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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)
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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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  • HAL Id : hal-01425639, version 1

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Li Yu, Cyril Joly, Guillaume Bresson, Fabien Moutarde. Monocular Urban Localization using Street View. 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). 〈hal-01425639〉

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