DASGIL: Domain Adaptation for Semantic and Geometric-Aware Image-Based Localization

نویسندگان

چکیده

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for an efficient effective solution the problem. In this paper, we propose novel multi-task architecture fuse geometric semantic information into multi-scale latent embedding representation place recognition. To use high-quality ground truths without any human effort, feature discriminator proposed adversarial training achieve domain adaptation from synthetic virtual KITTI dataset real-world dataset. The approach validated on Extended CMU-Seasons Oxford RobotCar through series of crucial comparison experiments, where our performance outperforms state-of-the-art baselines retrieval-based large-scale recognition environment.

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ژورنال

عنوان ژورنال: IEEE transactions on image processing

سال: 2021

ISSN: ['1057-7149', '1941-0042']

DOI: https://doi.org/10.1109/tip.2020.3043875