A Probabilistic Framework for Visual Localization in Ambiguous Scenes
Fereidoon Zangeneh,Leonard Bruns,Amit Dekel,Alessandro Pieropan,Patric Jensfelt,Fereidoon Zangeneh,Leonard Bruns,Amit Dekel,Alessandro Pieropan,Patric Jensfelt
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be viewed from many distinct, equally likely camera poses, which means it is not sufficient to produce a single best pose hypothesis. In this work, we propose a prob...
