Deep Dense Local Feature Matching And Vehicle Removal For Indoor Visual Localization

Abstract

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval such that the location of a query image is determined by its closest match in the previously collected images. Existing approaches focus on large scale localization where landmarks are helpful in finding the location. However, visual localization becomes challenging in small scale environments where objects are hardly recognizable. In this paper, we propose a visual localization framework that robustly finds the match for a query among the images collected from indoor parking lots. It is a challenging problem when the vehicles in the images share similar appearances and are frequently replaced such as parking lots. We propose to employ a deep dense local feature matching that resembles human perception to find correspondences and eliminating matches fr

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• arxiv keypark2022deep

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