Web: http://arxiv.org/abs/2203.04446

Sept. 16, 2022, 1:15 a.m. | Pierre-Yves Lajoie, Giovanni Beltrame

cs.CV updates on arXiv.org arxiv.org

Visual place recognition techniques based on deep learning, which have
imposed themselves as the state-of-the-art in recent years, do not generalize
well to environments visually different from the training set. Thus, to achieve
top performance, it is sometimes necessary to fine-tune the networks to the
target environment. To this end, we propose a self-supervised domain
calibration procedure based on robust pose graph optimization from Simultaneous
Localization and Mapping (SLAM) as the supervision signal without requiring GPS
or manual labeling. Moreover, …

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