Vision-based localization is the problem of inferring the pose of the camera given a single image. One commonly used approach relies on image retrieval where the query input is compared against a database of localized support examples and its pose is inferred with the help of the retrieved items. This assumes that images taken from the same places consist of the same landmarks and thus would have similar feature representations. These representations can learn to be robust to different variations in capture conditions like time of the day or weather. In this work, we introduce a framework which aims at enhancing the performance of such retrieval-based localization methods. It consists in taking into account additional information available, such as GPS coordinates or temporal proximity in the acquisition of the images. More precisely, our method consists in constructing a graph based on this additional information that is later used to improve reliability of the retrieval process by filtering the feature representations of support and/or query images. We show that the proposed method is able to significantly improve the localization accuracy on two large scale datasets, as well as the mean average precision in classical image retrieval scenarios.
Vision-based localization and positioning of an AUV
