6D Camera Relocalization in Ambiguous Scenes via Continuous Multimodal Inference

Bui Mai
Bui Mai
Deng Haowen
Deng Haowen
Albarqouni Shadi
Albarqouni Shadi

european conference on computer vision, pp. 139-157, 2020.

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Abstract:

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to symmetries and repetitive structures in the scene, computing one plausible solution (what most state-o...More

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