F$^3$Loc: Fusion and Filtering for Floorplan Localization
| Autor: | Chen, Changan, Wang, Rui, Vogel, Christoph, Pollefeys, Marc |
|---|---|
| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not require retraining per map and location or demand a large database of images of the area of interest. We propose a novel probabilistic model consisting of an observation and a novel temporal filtering module. Operating internally with an efficient ray-based representation, the observation module consists of a single and a multiview module to predict horizontal depth from images and fuses their results to benefit from advantages offered by either methodology. Our method operates on conventional consumer hardware and overcomes a common limitation of competing methods that often demand upright images. Our full system meets real-time requirements, while outperforming the state-of-the-art by a significant margin. Comment: 10 pages, 11 figure, accepted to CVPR 2024 |
| Databáze: | arXiv |
| Externí odkaz: |
|