Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization
Xiaolong Wu Yiye Chen Cédric Pradalier Patricio A. Vela Xiaolong Wu Yiye Chen Cédric Pradalier Patricio A. Vela
This paper presents a semi-supervised framework for multi-level description learning aiming for robust and accurate camera relocalization across large perception variations. Our proposed network, namely DLSSNet, simultaneously learns weakly-supervised semantic segmentation and local feature description in the hierarchy. Therefore, the augmented descriptors, trained in an end-to-end manner, provide...