CVLNet: Cross-View Semantic Correspondence Learning for Video-based Camera Localization

• URL: http://arxiv.org/abs/2208.03660v1
• Date: Sun, 7 Aug 2022 07:35:17 GMT
• Title: CVLNet: Cross-View Semantic Correspondence Learning for Video-based Camera Localization
• Authors: Yujiao Shi, Xin Yu, Shan Wang, Hongdong Li
• Abstract summary: This paper tackles the problem of Cross-view Video-based camera localization. We propose estimating the query camera's relative displacement to a satellite image before similarity matching. Experiments have demonstrated the effectiveness of video-based localization over single image-based localization.
• Score: 89.69214577915959
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper tackles the problem of Cross-view Video-based camera Localization (CVL). The task is to localize a query camera by leveraging information from its past observations, i.e., a continuous sequence of images observed at previous time stamps, and matching them to a large overhead-view satellite image. The critical challenge of this task is to learn a powerful global feature descriptor for the sequential ground-view images while considering its domain alignment with reference satellite images. For this purpose, we introduce CVLNet, which first projects the sequential ground-view images into an overhead view by exploring the ground-and-overhead geometric correspondences and then leverages the photo consistency among the projected images to form a global representation. In this way, the cross-view domain differences are bridged. Since the reference satellite images are usually pre-cropped and regularly sampled, there is always a misalignment between the query camera location and its matching satellite image center. Motivated by this, we propose estimating the query camera's relative displacement to a satellite image before similarity matching. In this displacement estimation process, we also consider the uncertainty of the camera location. For example, a camera is unlikely to be on top of trees. To evaluate the performance of the proposed method, we collect satellite images from Google Map for the KITTI dataset and construct a new cross-view video-based localization benchmark dataset, KITTI-CVL. Extensive experiments have demonstrated the effectiveness of video-based localization over single image-based localization and the superiority of each proposed module over other alternatives.

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