Accurate Visual Localization for Automotive Applications

Eli Brosh, Matan Friedmann, Ilan Kadar, Lev Yitzhak Lavy, Elad Levi, Shmuel Rippa, Yair Lempert, Bruno Fernandez-Ruiz, Roei Herzig, Trevor Darrell; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2019, pp. 118-127


Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant localization errors in many urban areas. Approaches for accurate localization from imagery often rely on structure-based techniques, and thus are limited in scale and are expensive to compute. In this paper, we present a scalable visual localization approach geared for real-time performance. We propose a hybrid coarse-to-fine approach that leverages visual and GPS location cues. Our solution uses a self-supervised approach to learn a compact road image representation. This representation enables efficient visual retrieval and provides coarse localization cues, which are fused with vehicle ego-motion to obtain high accuracy location estimates. As a benchmark to evaluate the performance of our visual localization approach, we introduce a new large-scale driving dataset based on video and GPS data obtained from a large-scale network of connected dash-cams. Our experiments confirm that our approach is highly effective in challenging urban environments, reducing localization error by an order of magnitude.

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[pdf] [dataset]
author = {Brosh, Eli and Friedmann, Matan and Kadar, Ilan and Yitzhak Lavy, Lev and Levi, Elad and Rippa, Shmuel and Lempert, Yair and Fernandez-Ruiz, Bruno and Herzig, Roei and Darrell, Trevor},
title = {Accurate Visual Localization for Automotive Applications},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
month = {June},
year = {2019}