DPC-Net: Deep Pose Correction for Visual Localization. (arXiv:1709.03128v4 [cs.CV] UPDATED)

We present a novel method to fuse the power of deep networks with the
computational efficiency of geometric and probabilistic localization
algorithms. In contrast to other methods that completely replace a classical
visual estimator with a deep network, we propose an approach that uses a
convolutional neural network to learn difficult-to-model corrections to the
estimator from ground-truth training data. To this end, we derive a novel loss
function for learning SE(3) corrections based on a matrix Lie groups approach,
with …

arxiv cv dpc localization