Faster Visual-Based Localization with Mobile-PoseNet

Cimarelli, Claudio; Cazzato, Dario; Olivares Mendez, Miguel Angel; Voos, Holger

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Faster Visual-Based Localization with Mobile-PoseNet

Cimarelli, Claudio; Cazzato, Dario; Olivares Mendez, Miguel Angel et al.

2019 • In International Conference on Computer Analysis of Images and Patterns

Peer reviewed

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https://hdl.handle.net/10993/41615

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Keywords :

Deep Learning; Convolutional Neural Networks; 6-DoF Pose Estimation; Visual Based Localization; UAV

Abstract :

[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.

Disciplines :

Computer science

Author, co-author :

Cimarelli, Claudio ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

Cazzato, Dario ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

Olivares Mendez, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)

Voos, Holger ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Engineering Research Unit

External co-authors :

Language :

English

Title :

Faster Visual-Based Localization with Mobile-PoseNet

Publication date :

22 August 2019

Event name :

International Conference on Computer Analysis of Images and Patterns

Event organizer :

Springer

Event place :

Salerno, Italy

Event date :

from 3-09-2019 to 5-09-2019

Audience :

International

Main work title :

International Conference on Computer Analysis of Images and Patterns

Pages :

219--230

Peer reviewed :

Peer reviewed

Focus Area :

Computational Sciences

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since 15 January 2020

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