TL;DR基于场景地标检测的摄像头定位方法,采用卷积神经网络(CNN)检测少量特定的场景 3D 点或地标,并从相关的 2D-3D 对应中计算摄像头姿态,具有与基于 3D 结构的方法相当的准确性,但速度更快且使用存储空间更少。
Abstract
camera localization methods based on retrieval, local feature matching, and
3D structure-based pose estimation are accurate but require high storage, are
slow, and are not privacy-preserving. A method based on scene landmark
detection (SLD) was recently proposed to address these limita