SAMLoc: Structure-Aware Constraints With Multi-Task Distillation for Long-Term Visual Localization

Jian Nign, Yunzhou Zhang, Xinge Zhao, Sonya Coleman, Kunmo Li, Dermot Kerr

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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Abstract

Real-time and robust long-term visual localization is a key technology for autonomous driving. Season and illumination variance, as well as limited computing power make this problem more challenging. At present, most of the excellent visual localization algorithms cannot run in real-time on devices with limited computing power. In this paper, we propose SAMLoc, a self-supervised 6-DoF visual localization method with structure-aware and multi-task distillation. We integrate the structure-aware constraints into the hierarchical localization network of multi-task distillation, which greatly reduces the feature extraction time while ensuring localization accuracy, thus achieving real-time and robust large-scene localization on mobile devices. Our method takes both speed and accuracy into consideration, and extensive experiments have been conducted to validate the effectiveness of the proposed approach on several datasets. Our network is not only lightweight but also has excellent generalization ability, and still exhibits high localization accuracy even with challenging datasets.
Original languageEnglish
Title of host publicationProceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA)
Subtitle of host publicationIEEE International Conference on Robotics and Automation
PublisherIEEE
Pages1-7
Number of pages7
ISBN (Electronic)979-8-3503-2365-8
ISBN (Print)979-8-3503-2366-5
DOIs
Publication statusPublished online - 4 Jul 2023
EventInternational Conference on Robotics and Automation 2023 - London, England, London, United Kingdom
Duration: 29 May 20232 Jun 2023
https://www.icra2023.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2023-May
ISSN (Print)1050-4729

Conference

ConferenceInternational Conference on Robotics and Automation 2023
Abbreviated titleICRA 2023
Country/TerritoryUnited Kingdom
CityLondon
Period29/05/232/06/23
Internet address

Bibliographical note

Funding Information:
This work was supported by National Natural Science Foundation of China (No. 61973066), Major Science and Technology Projects of Liaoning Province(No. 2021JH1/10400049), Fundamental Research Funds for the Central Universities(N2004022).

Publisher Copyright:
© 2023 IEEE.

Keywords

  • Location awareness
  • Performance evaluation
  • Visualization
  • Automation
  • Lighting
  • Multitasking
  • Feature extraction

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