Weatherproofing Retrieval for Localization with Generative AI and Geometric Consistency

Published: 16 Jan 2024, Last Modified: 21 Apr 2024ICLR 2024 posterEveryoneRevisionsBibTeX
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Keywords: visual localization, image retrieval, synthetic data, domain shift, geometric consistency, long-term visual localization, ret4loc, image alteration
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TL;DR: We make retrieval for localization models robust to weather, seasonal and time-of-day changes by augmenting the training set with synthetic variations generated using Generative AI and leverage geometric consistency for sampling and filtering
Abstract: State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic consequences on the visual localization accuracy. In this paper, we improve this retrieval step and tailor it to the final localization task. Among the several changes we advocate for, we propose to synthesize variants of the training set images, obtained from generative text-to-image models, in order to automatically expand the training set towards a number of nameable variations that particularly hurt visual localization. After expanding the training set, we propose a training approach that leverages the specificities and the underlying geometry of this mix of real and synthetic images. We experimentally show that those changes translate into large improvements for the most challenging visual localization datasets.
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Primary Area: representation learning for computer vision, audio, language, and other modalities
Submission Number: 332