Understanding How Camera Configuration and Environmental Conditions Affect Appearance-based Localization

Aayush Bansal, Hernan Badino, and Daniel Huber
IEEE Intelligent Vehicles Symposium, June, 2014.


Download
  • Adobe portable document format (pdf) (2MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Localization is a central problem for intelligent vehicles. Visual localization can supplement or replace GPS- based localization approaches in situations where GPS is unavailable or inaccurate. Although visual localization has been demonstrated in a variety of algorithms and systems, the problem of how to best configure such a system remains largely an open question. Design choices, such as “where should the camera be placed?” and “how should it be oriented?” can have substantial effect on the cost and robustness of a fielded intelligent vehicle. This paper analyzes how different sensor configuration parameters and environmental conditions affect visual localization performance with the goal of understanding what causes certain configurations to perform better than oth- ers and providing general principles for configuring systems for visual localization. We ground the investigation using extensive field testing of a visual localization algorithm, and the data sets used for the analysis are made available for comparative evaluation.

Notes

Text Reference
Aayush Bansal, Hernan Badino, and Daniel Huber, "Understanding How Camera Configuration and Environmental Conditions Affect Appearance-based Localization," IEEE Intelligent Vehicles Symposium, June, 2014.

BibTeX Reference
@inproceedings{Bansal_2014_7591,
   author = "Aayush Bansal and Hernan Badino and Daniel Huber",
   title = "Understanding How Camera Configuration and Environmental Conditions Affect Appearance-based Localization",
   booktitle = "IEEE Intelligent Vehicles Symposium",
   month = "June",
   year = "2014",
}