Improved Visual Relocalization by Discovering Anchor Points

Understand

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene.

• We propose a method based on how humans determine their location using the visible landmarks.
• We define anchor points uniformly across the route map and propose a deep learning architecture which predicts the most relevant anchor point present in the scene as well as the relative offsets with respect to it.
• The relevant anchor point need not be the nearest anchor point to the ground truth location, as it might not be visible due to the pose.