Benchmarking Visual Localization for Autonomous Navigation

This work introduces a simulator-based benchmark for visual localization in the autonomous navigation context. The dynamic benchmark enables investigation of how variables such as the time of day, weather, and camera perspective affect the navigation performance of autonomous agents that utilize vis...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2022-10
Main Authors: Suomela, Lauri, Kalliola, Jussi, Atakan Dag, Edelman, Harry, Joni-Kristian Kämäräinen
Format: Article
Language:English
Subjects:
Autonomous navigation
Benchmarks
Localization
Real variables
Simulation
Time of use
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This work introduces a simulator-based benchmark for visual localization in the autonomous navigation context. The dynamic benchmark enables investigation of how variables such as the time of day, weather, and camera perspective affect the navigation performance of autonomous agents that utilize visual localization for closed-loop control. The experimental part of the paper studies the effects of four such variables by evaluating state-of-the-art visual localization methods as part of the motion planning module of an autonomous navigation stack. The results show major variation in the suitability of the different methods for vision-based navigation. To the authors' best knowledge, the proposed benchmark is the first to study modern visual localization methods as part of a complete navigation stack. We make the benchmark available at https://github.com/lasuomela/carla_vloc_benchmark.
ISSN:2331-8422