Metric Monocular Localization Using Signed Distance Fields

Huaiyang Huang, Yuxiang Sun, Haoyang Ye, Ming Liu

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

6 Citations (Scopus)

Abstract

Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure. In this paper, we present a metric localization method for the monocular camera, using the Signed Distance Field (SDF) as a global map representation. Leveraging the volumetric distance information from SDFs, we aim to relax the assumption of an accurate structure from the local Bundle Adjustment (BA) in previous methods. By tightly coupling the distance factor with temporal visual constraints, our system corrects the odometry drift and jointly optimizes global camera poses with the local structure. We validate the proposed approach on both indoor and outdoor public datasets. Compared to the state-of-the-art methods, it achieves a comparable performance with a minimal sensor configuration.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherIEEE
Pages1195-1201
Number of pages7
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 3 Nov 20198 Nov 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period3/11/198/11/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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