Semantically guided location recognition for outdoors scenes

摘要

The problem of image based localization has a long history both in robotics and computer vision and shares many similarities with image based retrieval problem. Existing techniques use either local features or (semi)-global image signatures in the context of topological mapping or loop closure detection. Difficulties of the location recognition problem are often affected by large appearance and viewpoint variation between the query view and reference dataset and presence of non-discriminative features due to vegetation, sky and road. In this work we show that semantic segmentation labeling of man-made structures can inform the traditional bag-of-visual words models to obtain proper feature weighting and improve the overall location recognition accuracy. We also demonstrate additional capability of identifying individual buildings and estimating their extent in images, providing the essential building block for semantic localization. Towards this end we introduce a new challenging outdoors urban dataset exhibiting large variations in appearance and viewpoint.