Improving Map-Free Localization with Depth Supervision - Hub Intelligence Artificielle de CentraleSupélec
Communication Dans Un Congrès Année : 2024

Improving Map-Free Localization with Depth Supervision

Hitesh Jain
  • Fonction : Auteur
  • PersonId : 1291045
Sagar Verma
  • Fonction : Auteur
  • PersonId : 743250
  • IdHAL : versag

Résumé

We propose an enhancement to the MicKey architecture, a state-of-the-art method for map-free localization, by integrating the Depth Anything network [10] to improve depth estimation. Our approach uses Depth Anything-generated ground truth depth maps during MicKey's training, resulting in more accurate depth predictions, especially in challenging regions like depth discontinuities. Experimental results show that our method maintains competitive performance across key metrics while requiring minimal supervision, thereby improving the versatility and accessibility of the MicKey framework for diverse datasets.

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Dates et versions

hal-04696742 , version 1 (13-09-2024)

Identifiants

  • HAL Id : hal-04696742 , version 1

Citer

Hitesh Jain, Sagar Verma. Improving Map-Free Localization with Depth Supervision. ECCV Workshop, Sep 2024, Milan (Italie), Italy. ⟨hal-04696742⟩

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