2024/03/05 by Changan Chen, Rui Wang, Chen, Changan +5 · 8 citations
Computer Science · Engineering · #Advanced Numerical Analysis Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image and Object Detection Techniques #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2403.03370
openalex publication_date 2024/03/05 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not require retraining per map and location or demand a large database of images of the area of interest. We propose a novel probabilistic model consisting of an observation and a novel temporal filtering module. Operating internally with an efficient ray-based representation, the observation module consists of a single and a multiview module to predict horizontal depth from images and fuses their results to benefit from advantages offered by either methodology. Our method operates on conventional consumer hardware and overcomes a common limitation of competing methods that often demand upright images. Our full system meets real-time requirements, while outperforming the state-of-the-art by a significant margin.