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author:

Dong, Siyan (Dong, Siyan.) [1] | Wang, Shuzhe (Wang, Shuzhe.) [2] | Zhuang, Yixin (Zhuang, Yixin.) [3] (Scholars:庄一新) | Kannala, Juho (Kannala, Juho.) [4] | Pollefeys, Marc (Pollefeys, Marc.) [5] | Chen, Baoquan (Chen, Baoquan.) [6]

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EI

Abstract:

Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent advances in structure-based localization solve this problem by memorizing the mapping from image pixels to scene coordinates with neural networks to build 2D-3D correspondences for camera pose optimization. However, such memorization requires training by amounts of posed images in each scene, which is heavy and inefficient. On the contrary, few-shot images are usually sufficient to cover the main regions of a scene for a human operator to perform visual localization. In this paper, we propose a scene region classification approach to achieve fast and effective scene memorization with few-shot images. Our insight is leveraging a) pre-learned feature extractor, b) scene region classifier, and c) meta-learning strategy to accelerate training while mitigating overfitting. We evaluate our method on both indoor and outdoor benchmarks. The experiments validate the effectiveness of our method in the few-shot setting, and the training time is significantly reduced to only a few minutes. 11Code available at: https://github.com/siyandong/SRC © 2022 IEEE.

Keyword:

Cameras Computer vision Degrees of freedom (mechanics) Learning systems

Community:

  • [ 1 ] [Dong, Siyan]Shandong University, China
  • [ 2 ] [Dong, Siyan]Aalto University, Finland
  • [ 3 ] [Wang, Shuzhe]Eth Zurich, Switzerland
  • [ 4 ] [Wang, Shuzhe]Aalto University, Finland
  • [ 5 ] [Zhuang, Yixin]Fuzhou University, China
  • [ 6 ] [Kannala, Juho]Eth Zurich, Switzerland
  • [ 7 ] [Pollefeys, Marc]Aalto University, Finland
  • [ 8 ] [Pollefeys, Marc]Microsoft
  • [ 9 ] [Chen, Baoquan]Peking University, China

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Year: 2022

Page: 393-402

Language: English

Cited Count:

WoS CC Cited Count: 0

SCOPUS Cited Count: 4

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 0

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