Deep-Geometric 6 DoF Localization from a Single Image in Topo-metric Maps

Understand

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment.

• Our map is a topo-metric one, with discrete topological nodes whose 6 DoF poses are known.
• Each topo-node in our map also comprises of a set of points, whose 2D features and 3D locations are stored as part of the mapping process.
• For the mapping phase, we utilise a stereo camera and a regular stereo visual SLAM pipeline.