6D Camera Relocalization in Ambiguous Scenes via Continuous Multimodal Inference

Mai Bui, Tolga Birdal, Haowen Deng, Shadi Albarqouni, Leonidas Guibas, Slobodan Ilic, Nassir Navab

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

12 Zitate (Scopus)

Abstract

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to symmetries and repetitive structures in the scene, computing one plausible solution (what most state-of-the-art methods currently regress) may not be sufficient. Instead we predict multiple camera pose hypotheses as well as the respective uncertainty for each prediction. Towards this aim, we use Bingham distributions, to model the orientation of the camera pose, and a multivariate Gaussian to model the position, with an end-to-end deep neural network. By incorporating a Winner-Takes-All training scheme, we finally obtain a mixture model that is well suited for explaining ambiguities in the scene, yet does not suffer from mode collapse, a common problem with mixture density networks. We introduce a new dataset specifically designed to foster camera localization research in ambiguous environments and exhaustively evaluate our method on synthetic as well as real data on both ambiguous scenes and on non-ambiguous benchmark datasets. We plan to release our code and dataset under multimodal3dvision.github.io.

OriginalspracheEnglisch
TitelComputer Vision – ECCV 2020 - 16th European Conference, 2020, Proceedings
Redakteure/-innenAndrea Vedaldi, Horst Bischof, Thomas Brox, Jan-Michael Frahm
Herausgeber (Verlag)Springer Science and Business Media Deutschland GmbH
Seiten139-157
Seitenumfang19
ISBN (Print)9783030585228
DOIs
PublikationsstatusVeröffentlicht - 2020
Veranstaltung16th European Conference on Computer Vision, ECCV 2020 - Glasgow, Großbritannien/Vereinigtes Königreich
Dauer: 23 Aug. 202028 Aug. 2020

Publikationsreihe

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Band12363 LNCS
ISSN (Print)0302-9743
ISSN (elektronisch)1611-3349

Konferenz

Konferenz16th European Conference on Computer Vision, ECCV 2020
Land/GebietGroßbritannien/Vereinigtes Königreich
OrtGlasgow
Zeitraum23/08/2028/08/20

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