We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of additional engineering or graph optimisation. The algorithm can operate indoors and outdoors in real time, taking 5ms per frame to compute. It obtains approximately 2m and 6 degree accuracy for large scale outdoor scenes and 0.5m and 10 degree accuracy indoors. This is achieved using an efficient 23 layer deep convnet, demonstrating that convnets can be used to solve complicated out of image plane regression problems. This was made possible by leveraging transfer learning from large scale classification data. We show the convnet localizes from high level features and is robust to difficult lighting, motion blur and different camera intrinsics where point based SIFT registration fails. Furthermore we show how the pose feature that is produced generalizes to other scenes allowing us to regress pose with only a few dozen training examples. PoseNet code, dataset and an online demonstration is available on our project webpage, at this http URL
Despite their ability in classifying spatio-temporal data, convolutional neural networks are only just beginning to be used for regression. They have advanced the state of the art in object detection @cite_26 and human pose regression @cite_20 . However these have limited their regression targets to lie in the 2-D image plane. Here we demonstrate regressing the full 6-DOF camera pose transform including depth and out-of-plane rotation. Furthermore, we show we are able to learn regression as opposed to being a very fine resolution classifier.
@cite_26 @cite_20
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We propose a deep convolutional neural network architecture codenamed "Inception", which was responsible for setting the new state of the art for classification and detection in the ImageNet Large-Scale Visual Recognition Challenge 2014 (ILSVRC 2014). The main hallmark of this architecture is the improved utilization of the computing resources inside the network. This was achieved by a carefully crafted design that allows for increasing the depth and width of the network while keeping the computational budget constant. To optimize quality, the architectural decisions were based on the Hebbian principle and the intuition of multi-scale processing. One particular incarnation used in our submission for ILSVRC 2014 is called GoogLeNet, a 22 layers deep network, the quality of which is assessed in the context of classification and detection. We propose a method for human pose estimation based on Deep Neural Networks (DNNs). The pose estimation is formulated as a DNN-based regression problem towards body joints. We present a cascade of such DNN regres- sors which results in high precision pose estimates. The approach has the advantage of reasoning about pose in a holistic fashion and has a simple but yet powerful formula- tion which capitalizes on recent advances in Deep Learn- ing. We present a detailed empirical analysis with state-of- art or better performance on four academic benchmarks of diverse real-world images.