Long-term Visual Localization Using Illumination Insensitive Descriptors

Xinyu Lin, Yingjie Zhou, Yipeng Liu, Ce Zhu

Abstract: This demo shows a long-term visual localization system based on illumination insensitive descriptors (IID) of points and lines in multiple cameras. The system can robustly match the features in captured images for localization against those in localization database (DB). The developed localization system achieves remarkable performance and seasonal-time-spanned localization results in complex and changing environments.