Abstract
In this paper, we propose a novel re-localization method with deep learning using monocular image. A data augmentation method with semi-omni-directional image is introduced. Our method aims re-localization to be robust for changes in the surrounding situation. It is achieved by applying the uncertainty measurement obtained from Bayesian Neural Network. We confirm the effectiveness of our proposed method through the experiments.
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Takahashi, T., Fukuda, H., Kobayashi, Y., Kuno, Y. (2020). Indoor Visual Re-localization Based on Confidence Score Using Omni-Directional Camera. In: Ohyama, W., Jung, S. (eds) Frontiers of Computer Vision. IW-FCV 2020. Communications in Computer and Information Science, vol 1212. Springer, Singapore. https://doi.org/10.1007/978-981-15-4818-5_15
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DOI: https://doi.org/10.1007/978-981-15-4818-5_15
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