Reference : Faster Visual-Based Localization with Mobile-PoseNet
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Computational Sciences
http://hdl.handle.net/10993/41615
Faster Visual-Based Localization with Mobile-PoseNet
English
Cimarelli, Claudio mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Cazzato, Dario mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Engineering Research Unit]
22-Aug-2019
International Conference on Computer Analysis of Images and Patterns
219--230
Yes
No
International
International Conference on Computer Analysis of Images and Patterns
from 3-09-2019 to 5-09-2019
Springer
Salerno
Italy
[en] Deep Learning ; Convolutional Neural Networks ; 6-DoF Pose Estimation ; Visual Based Localization ; UAV
[en] Precise and robust localization is of fundamental importance for robots required to carry out autonomous tasks. Above all, in the case of Unmanned Aerial Vehicles (UAVs), efficiency and reliability are critical aspects in developing solutions for localization due to the limited computational capabilities, payload and power constraints. In this work, we leverage novel research in efficient deep neural architectures for the problem of 6 Degrees of Freedom (6-DoF) pose estimation from single RGB camera images. In particular, we introduce an efficient neural network to jointly regress the position and orientation of the camera with respect to the navigation environment. Experimental results show that the proposed network is capable of retaining similar results with respect to the most popular state of the art methods while being smaller and with lower latency, which are fundamental aspects for real-time robotics applications.
http://hdl.handle.net/10993/41615

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Open access
CAIP19_mobiposenet_cameraready.pdfAuthor preprint7.77 MBView/Open

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.