DAP-Pose: 深い時間的アライメントと物理認識型クロスモーダルセンサーフュージョンによる頑健な姿勢推定
DAP-Pose: Deep Temporal Alignment and Physics-aware Cross-modal Sensor Fusion for Robust Pose Estimation
視覚・慣性・GNSSのマルチモーダルセンサーを統合し、時間的非同期を潜在空間で整列させ、物理的制約を導入することで、複雑環境下でも頑健で高精度な姿勢推定を実現するエンドツーエンドモデルを提案した。
著者: Jianhan Lin, Yuchu Qin, Jiateng Yuan, Wenbo Zhang, Shuai Gao
分類: cs.CV, cs.RO
原文アブストラクト
Robust and accurate pose estimation with multi-modal sensors is fundamental for autonomous vehicles and mobile robotic systems in complex environments. In this paper, we propose DAP-Pose, a unified end-to-end model for robust multi-modal pose estimation. DAP-Pose introduces a Bi-level Cross-modal Fusion (BCF) module that captures complementary semantic and geometric motion cues from visual, inertial, and GNSS measurements. To handle temporal offsets, we designed a Deep Temporal Alignment (DTA) module that explicitly aligns asynchronous streams in latent space, enabling coherent motion modeling without strict hardware synchronization. Furthermore, we incorporate physics-aware constraints via manifold geometry and GNSS-guided absolute metric scale, enforcing motion consistency and mitigating drift. Experiments upon the public KITTI benchmark dataset were conducted to evaluate the performance of DAP-Pose against existing methods. DAP-Pose achieved the state-of-the-art performance, with the lowest average translation error ($t_{rel}$) of 1.31% and rotation error ($r_{rel}$) of 0.46$^{\circ}$. Furthermore, it accurately estimates poses and maintains robust performance under severe artificially injected temporal misalignment.