Web: http://arxiv.org/abs/2205.05861

May 13, 2022, 1:10 a.m. | Ran Cheng, Xinyu Jiang, Yuan Chen, Lige Liu, Tao Sun

cs.CV updates on arXiv.org arxiv.org

Camera relocalization is the key component of simultaneous localization and
mapping (SLAM) systems. This paper proposes a learning-based approach, named
Sparse Spatial Scene Embedding with Graph Neural Networks (S3E-GNN), as an
end-to-end framework for efficient and robust camera relocalization. S3E-GNN
consists of two modules. In the encoding module, a trained S3E network encodes
RGB images into embedding codes to implicitly represent spatial and semantic
embedding code. With embedding codes and the associated poses obtained from a
SLAM system, each image …

arxiv cv embedding graph graph neural networks networks neural neural networks

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