Real-time 6DOF pose relocalization for event cameras with stacked spatial LSTM Networks

Anh Nguyen, Thanh-Toan Do, Darwin G. Caldwell, Nikos G. Tsagarakis

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

10 Citations (Scopus)

Abstract

We present a new method to relocalize the 6DOF pose of an event camera solely based on the event stream. Our method first creates the event image from a list of events that occurs in a very short time interval, then a Stacked Spatial LSTM Network (SP-LSTM) is used to learn the camera pose. Our SP-LSTM is composed of a CNN to learn deep features from the event images and a stack of LSTM to learn spatial dependencies in the image feature space. We show that the spatial dependency plays an important role in the relocalization task with event images and the SP-LSTM can effectively learn this information. The extensively experimental results on a publicly available dataset show that our approach outperforms recent state-of-the-art methods by a substantial margin, as well as generalizes well in challenging training/testing splits. The source code and trained models are available at https://github.com/nqanh/pose-relocalization.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2019
EditorsAbhinav Gupta, Derek Hoiem, Gang Hua, Zhuowen Tu
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1638-1645
Number of pages8
ISBN (Electronic)9781728125060
ISBN (Print)9781728125077
DOIs
Publication statusPublished - 2019
Externally publishedYes
EventIEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops 2019 - Long Beach, United States of America
Duration: 16 Jun 201920 Jun 2019
Conference number: 32nd
https://cvpr2019.thecvf.com/program/workshops (Website)
https://ieeexplore.ieee.org/xpl/conhome/8972688/proceeding (Proceedings)

Publication series

NameIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
PublisherThe Institute of Electrical and Electronics Engineers, Inc.
Volume2019-June
ISSN (Print)2160-7508
ISSN (Electronic)2160-7516

Conference

ConferenceIEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops 2019
Abbreviated titleCVPRW 2019
CountryUnited States of America
CityLong Beach
Period16/06/1920/06/19
Internet address

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