イベントカメラによる多視点ジオローカリゼーション
Multi-viewpoint Geo-localization with Event Cameras
フレームベースのデータセットをイベントストリームに変換して視点変化に頑健なイベントベースの位置認識モデルMegaEventを学習し、新規データセットSpringfield-Event-VPRを提案した。
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著者: Adam D. Hines, Michael Milford, Tobias Fischer
分類: cs.CV, cs.RO
原文アブストラクト
Robot localization is an ongoing challenge that demands mapping and positioning systems that are tolerant to viewpoint change. Event cameras are attracting increasing interest and adoption in robotics; however, dealing with viewpoint variance is an under-investigated problem in existing event-based localizers. In addition, event-based datasets that emphasize viewpoint variance for challenging localization situations are scarce. Here, we introduce an event-based visual place recognition (VPR) system that performs robustly under viewpoint changes. We converted five large-scale geo-tagged datasets, conventionally used to train frame-based localization systems, into synthetic event streams using Image-to-Event (I2E) conversion, and used them to fine-tune a pre-trained event-based vision transformer backbone with a multi-loss function, yielding a system we call MegaEvent that learns viewpoint-robust features for place recognition. We achieved an average Recall@1 of 82% across three existing event-based localization datasets, leading the next best event-based method by 20 recall points, and frame-based VPR models applied directly to event frames by 8 to 26 recall points. We introduce a new, challenging dataset - Springfield-Event-VPR - which features a 3.7km walking route recorded in three camera orientations for a total of 11.1km, which MegaEvent outperforms the strongest baseline by 9 recall points. The code for MegaEvent is available at https://github.com/AdamDHines/megaevent.
関連論文
- ワープ速度への準備：イベントカメラによるサブミリ秒視覚位置認識VPR/イベントカメラ