Semantics-aware visual localization under challenging perceptual conditions

  title={Semantics-aware visual localization under challenging perceptual conditions},
  author={Tayyab Naseer and Gabriel L. Oliveira and Thomas Brox and Wolfram Burgard},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
Visual place recognition under difficult perceptual conditions remains a challenging problem due to changing weather conditions, illumination and seasons. Long-term visual navigation approaches for robot localization should be robust to these dynamics of the environment. Existing methods typically leverage feature descriptions of whole images or image regions from Deep Convolutional Neural Networks. Some approaches also exploit sequential information to alleviate the problem of spatially… CONTINUE READING

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