AtLoc: Attention guided camera localization

Bing Wang, Changhao Chen, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, Andrew Markham

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

88 Citations (Scopus)

Abstract

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential (multi-images) or geometry constraint approaches, which can learn to reject dynamic objects and illumination conditions to achieve better performance. In this work, we show that attention can be used to force the network to focus on more geometrically robust objects and features, achieving state-of-the-art performance in common benchmark, even if using only a single image as input. Extensive experimental evidence is provided through public indoor and outdoor datasets. Through visualization of the saliency maps, we demonstrate how the network learns to reject dynamic objects, yielding superior global camera pose regression performance. The source code is avaliable at https://github.com/BingCS/AtLoc.

Original languageEnglish
Title of host publicationAAAI 2020 - 34th AAAI Conference on Artificial Intelligence
PublisherAAAI press
Pages10393-10401
Number of pages9
ISBN (Electronic)9781577358350
Publication statusPublished - 2020
Externally publishedYes
Event34th AAAI Conference on Artificial Intelligence, AAAI 2020 - New York, United States
Duration: 7 Feb 202012 Feb 2020

Publication series

NameAAAI 2020 - 34th AAAI Conference on Artificial Intelligence

Conference

Conference34th AAAI Conference on Artificial Intelligence, AAAI 2020
Country/TerritoryUnited States
CityNew York
Period7/02/2012/02/20

ASJC Scopus subject areas

  • Artificial Intelligence

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