A visual fingerprint update algorithm based on crowdsourced localization and deep learning for smart IoV

Abstract

Recently, deep learning and vision-based technologies have shown their great significance for the prospective development of smart Internet of Vehicle (IoV). When the smart vehicle enters the indoor parking of a shopping mall, the vision-based localization technology can provide reliable parking service. As known, the vision-based technique relies on a visual map without a change in the position of the reference object. Although, some researchers have proposed a few automatic visual fingerprinting (AVF) methods, which are aiming at reducing the cost of building the visual map database. However, the AVF method still costs too much under such a situation, since it is impossible to determine the specific location of the displaced object. Given the smart IoV and the development of deep learning approach, we propose an algorithm for solving the problem based on crowdsourcing and deep learning in this paper. Firstly, we propose a Region-based Fully Convolutional Network (R-FCN) based method with the feedback of crowdsourced images to locate the specific displaced object in the visual map database. Secondly, we propose a method based on quadratic programming (QP) for solving the translation vector of the displaced objects, which finally solves the problem of updating the visual map database. The simulation results show that our method can provide a higher detection sensitivity and correction accuracy as well as the relocation results. It means that our proposed algorithm outperforms the compared one, which is verified by both synthetic and real data simulation.

Accurate visual localization with semantic masking and attention

“…To this end, we use SIFT and RANSAC to implement the indirect feature-based method and use 448 × 448 pixels center cropped images as our pipeline. We filter matches between different categories in the feature match step as [40]. It almost produces no gain from semantics for feature-based methods, as shown in Table 3.…”