Abstract
Precise ego-localization is an important issue for Intelligent Vehicles. Geo-positioning with standard GPS often has localization error up to 10 m, and is even sometimes unavailable due to “urban canyon” effect. It is therefore an interesting goal to design an affordable and robust alternative to GPS ego-localization. In this paper, we present 2 approaches for absolute ego-localization based on vision only, and not requiring previous driving on same street, by leveraging only pre-existing geo-referenced panoramas such as those from Google StreetView. Our first variant is based on Bag of visual Words+visual keypoints matching+bundle adjustment, and the other one uses direct pose regression computed by a deep Convolutional Neural Network (CNN) taking the query image as input. We have evaluated our 2 proposed variants using a real car. On around 1 km in a dense urban area, we obtained average localization errors of 2.8 m with visual keypoints-matching+geometric computations, and of 7.7 m with pose regression using pre-trained deep CNN. This shows that our proposed approaches are therefore potentially interesting complements or even alternatives to GPS localization.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Agarwal, P., Burgard, W., Spinello, L.: Metric localization using Google street view. In: Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 3111–3118 (2015)
Anguelov, D., Dulong, C., Filip, D., et al.: Google street view: capturing the world at street level. Computer 43(6), 32–38 (2010)
Baatz, G., Köser, K., Chen, D., Grzeszczuk, R., Pollefeys, M.: Leveraging 3D city models for rotation invariant place-of-interest recognition. Int. J. Comp. Vis. 96(3), 315–334 (2012)
Bresson, G., Alsayed, Z., Yu, L., Glaser, S.: Simultaneous localization and mapping: a survey of current trends in autonomous driving. IEEE Trans. Intell. Veh. 2(3), 194–220 (2017)
Bresson, G., Li, Y., Joly, C., Moutarde, F.: Urban localization with Street Views using a Convolutional Neural Network for end-to-end camera pose regression. In: 2019 IEEE Intelligent Vehicles Symposium (IV 19), Paris (2019)
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., Leonard, J.J.: Past, present, and future of simultaneous localization and mapping: toward the robust-perception age. IEEE Trans. Robot. 32(6), 1309–1332 (2016)
Clark, R., Wang, S., Markham, A., Trigoni, N., Wen, H.: VidLoc: a deep spatio-temporal model for 6-DoF video-clip relocalization. In: IEEE Conference on Computer Vision and Pattern Recognition (2017)
Drawil, N.M., Amar H.M., Basir, O.A.: GPS localization accuracy classification: a context-based approach. Proc. of IEEE Trans. Intell. Transp. Syst. 14(1), 262–273 (2012)
Kendall, A., Grimes, M., Cipolla, R.: PoseNet: a convolutional network for real-time 6-DOF camera relocalization. In: Proceedings of IEEE International Conference on Computer Vision (ICCV 2015), pp. 2938–2946 (2015)
Kummerlemmerle, R., Steder, B., Dornhege, C., Kleiner, A., Grisetti, G., Burgard, W.: Large scale graph-based SLAM using aerial images as prior information. Auton. Robot. 30(1), 25–39 (2011)
Majdik, A., Albers-Schoenberg, Y., Scaramuzza, D.: MAV urban localization from Google Street View data. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3979–3986 (2013)
Meilland, M., Comport, A.I., Rives, P.: A Spherical robot-centered representation for urban navigation. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5196–5201 (2010)
Mirowski, P., Grimes, M. K., Malinowski, M., Hermann, K. M., Anderson, K., Teplyashin, D., Simonyan, K., Kavukcuoglu, K., Zisserman, A., Hadsell, R.: Learning to navigate in cities without a map. CoRR, abs/1804.00168 (2018)
Qu, X., Soheilian, B., Paparoditis, N.: Vehicle localization using mono-camera and geo-referenced traffic signs. In: IEEE Intelligent Vehicles Symposium, pp. 605–610 (2015)
Schindler, G., Brown, M., Szeliski, R.: City-scale location recognition. In: IEEE Conference on Computer Vision and Pattern Recognition, pp. 1–7 (2007)
Torii, A., Sivic, J., Pajdla, T.: Visual localization by linear combination of image descriptors. In: IEEE International Conference on Computer Vision Workshops, pp. 102–109 (2011)
Yu, L., Joly, C., Bresson, G., Moutarde, F.: Monocular urban localization using Street View. In: Proceedings of 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), pp. 1–6 (2016)
Yu, L., Joly, C., Bresson, G., Moutarde, F.: Improving robustness of monocular urban localization using augmented Street View. In Proceedings of 19th IEEE International Conference on Intelligent Transportation Systems (ITSC 2016), Rio de Janeiro (Brazil) (2016)
Zamir, A.R., Shah, M.: Accurate image localization based on Google maps Street View. In: 11th European Conference on Computer Vision, pp. 255–268 (2010)
Zhang, J., Singh, S.: Visual-lidar odometry and mapping: low drift, robust, and fast. In Proceedings of IEEE International Conference on Robotics and Automation (2015)
Zhang, W., J. Kosecka, J.: Image based localization in urban environments. In: Third International Symposium on 3D Data Processing, Visualization, and Transmission, pp. 33–40 (2006)
Acknowledgements
This work was jointly supported by the Institut VEDECOM of France under the autonomous vehicle project, and the China Scholarship Council (CSC).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Moutarde, F., Bresson, G., Yu, L., Joly, C. (2020). Vehicle Absolute Ego-Localization from Vision, Using Only Pre-existing Geo-Referenced Panoramas. In: Kabashkin, I., Yatskiv, I., Prentkovskis, O. (eds) Reliability and Statistics in Transportation and Communication. RelStat 2019. Lecture Notes in Networks and Systems, vol 117. Springer, Cham. https://doi.org/10.1007/978-3-030-44610-9_1
Download citation
DOI: https://doi.org/10.1007/978-3-030-44610-9_1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-44609-3
Online ISBN: 978-3-030-44610-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)