F$^3$Loc: Fusion and Filtering for Floorplan Localization

arXiv:2403.03370v1 Announce Type: new
Abstract: In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not require retraining per map and location or demand a large database of images of the area of interest. We propose a novel probabilistic model consisting of an observation and a novel temporal filtering module. Operating internally with an efficient ray-based representation, …

abstract arxiv cs.cv cs.ro data database data-driven demand filtering fusion images loc localization location long-term map paper per retraining robust solution type visual