LASER: LAtent SpacE Rendering for 2D Visual Localization

Zhixiang Min, Naji Khosravan, Zachary Bessinger, Manjunath Narayana, Sing Bing Kang, Enrique Dunn, Ivaylo Boyadzhiev

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

We present LASER, an image-based Monte Carlo Localization (MCL) framework for 2D floor maps. LASER introduces the concept of latent space rendering, where 2D pose hypotheses on the floor map are directly rendered into a geometrically-structured latent space by aggregating viewing ray features. Through a tightly coupled rendering codebook scheme, the viewing ray features are dynamically determined at rendering-time based on their geometries (i.e. length, incident-angle), endowing our representation with view-dependent fine-grain variability. Our codebook scheme effectively disentangles feature encoding from rendering, allowing the latent space rendering to run at speeds above 10KHz. Moreover, through metric learning, our geometrically-structured latent space is common to both pose hypotheses and query images with arbitrary field of views. As a result, LASER achieves state-of-the-art performance on large-scale indoor localization datasets (i. e. ZInD [5] and Structured3D [38]) for both panorama and perspective image queries, while significantly outperforming existing learning-based methods in speed.

Original languageEnglish
Title of host publicationProceedings - 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022
Pages11112-11121
Number of pages10
ISBN (Electronic)9781665469463
DOIs
StatePublished - 2022
Event2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022 - New Orleans, United States
Duration: 19 Jun 202224 Jun 2022

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Volume2022-June
ISSN (Print)1063-6919

Conference

Conference2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022
Country/TerritoryUnited States
CityNew Orleans
Period19/06/2224/06/22

Keywords

  • Pose estimation and tracking
  • Robot vision

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