| Presentation | 2017-06-23 Global Metric Localization and Correction of Scale Drift using Street View Kazuya Iwami, Toshihiko Yamasaki, Kiyoharu Aizawa, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we propose a novel method for video geo-localization using geo-tagged images, such as those retrieved from Google Street View. In the proposed method, correspondences of 3D positions between video frames and geo-tagged images are obtained, and then a reconstructed 3D map from input video is transformed to the world coordinates using the correspondences. However, applying a linear transformation to the 3D map leads to inaccuracy of geo-localization, because 3D reconstruction from a video has a problem that scale errors are accumulated in reconstruction---scale drift problem. To deal with this problem, we propose a transformation method that consists of three coarse-to-fine steps. Experiments show that the proposed method results accurate localization with errors of approximately 5~m on videos captured in more than 1~km trajectories, and the proposed method outperforms other state-of-the-art geo-localization methods that use geo-tagged images. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | 3D Reconstruction / SLAM / Localization / Geo-Tag |
| Paper # | PRMU2017-37,SP2017-13 |
| Date of Issue | 2017-06-15 (PRMU, SP) |
| Conference Information | |
| Committee | PRMU / SP |
|---|---|
| Conference Date | 2017/6/22(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Shinichi Sato(NII) / Yoichi Yamashita(Ritsumeikan Univ.) |
| Vice Chair | Hironobu Fujiyoshi(Chubu Univ.) / Yoshihisa Ijiri(Omron) / Hiroki Mori(Utsunomiya Univ.) |
| Secretary | Hironobu Fujiyoshi(AIST) / Yoshihisa Ijiri(NAIST) / Hiroki Mori(Shizuoka Univ.) |
| Assistant | Masato Ishii(NEC) / Yusuke Sugano(Osaka Univ.) / Kei Hashimoto(Nagoya Inst. of Tech.) / Satoshi Kobashikawa(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Speech |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Global Metric Localization and Correction of Scale Drift using Street View |
| Sub Title (in English) | |
| Keyword(1) | 3D Reconstruction |
| Keyword(2) | SLAM |
| Keyword(3) | Localization |
| Keyword(4) | Geo-Tag |
| 1st Author's Name | Kazuya Iwami |
| 1st Author's Affiliation | The University of Tokyo(Univ. of Tokyo) |
| 2nd Author's Name | Toshihiko Yamasaki |
| 2nd Author's Affiliation | The University of Tokyo(Univ. of Tokyo) |
| 3rd Author's Name | Kiyoharu Aizawa |
| 3rd Author's Affiliation | The University of Tokyo(Univ. of Tokyo) |
| Date | 2017-06-23 |
| Paper # | PRMU2017-37,SP2017-13 |
| Volume (vol) | vol.117 |
| Number (no) | PRMU-105,SP-106 |
| Page | pp.pp.69-74(PRMU), pp.69-74(SP), |
| #Pages | 6 |
| Date of Issue | 2017-06-15 (PRMU, SP) |