Unsupervised Metric Relocalization Using Transform Consistency Loss
Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1736-1745, 2021.
Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets. We instead propose a self-supervised solution, which exploits a key insight: localizing a query image within a map should yield the same absolute pose, regardless of the reference image used for registration. Guided by this intuition, we derive a novel transform consistency loss. Using this loss function, we train a deep neural network to infer dense feature and saliency maps to perform robust metric relocalization in dynamic environments. We evaluate our framework on synthetic and real-world data, showing our approach outperforms other supervised methods when a limited amount of ground-truth information is available.