Kazuhiro Shintani

Shigemichi Matsuzaki, Takuma Sugino, Kazuhito Tanaka et al.

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching all possible combinations of detected objects and landmarks with the same object category, followed by inlier extraction using RANSAC or brute-force search. This approach becomes infeasible as the number of landmarks increases due to the exponential growth of correspondence candidates. In this paper, we propose labeling landmarks with natural language descriptions and extracting correspondences based on conceptual similarity with image observations using a Vision Language Model (VLM). By leveraging detailed text information, our approach efficiently extracts correspondences compared to methods using only object categories. Through experiments, we demonstrate that the proposed method enables more accurate global localization with fewer iterations compared to baseline methods, exhibiting its efficiency.

Takayuki Kanai, Igor Vasiljevic, Vitor Guizilini et al.

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM methods exploit iterative dense bundle adjustment to address such failure cases, and achieve robust and accurate localization in a wide variety of real environments, without depending on domain-specific supervision. However, despite its potential, the methods still struggle with scenarios involving large motion and object dynamics. In this study, we diagnose key weaknesses in a popular learning-based dense SLAM model (DROID-SLAM) by analyzing major failure cases on outdoor benchmarks and exposing various shortcomings of its optimization process. We then propose the use of self-supervised priors leveraging a frozen large-scale pre-trained monocular depth estimator to initialize the dense bundle adjustment process, leading to robust visual odometry without the need to fine-tune the SLAM backbone. Despite its simplicity, the proposed method demonstrates significant improvements on KITTI odometry, as well as the challenging DDAD benchmark.