iLoc: An Adaptive, Efficient, and Robust Visual Localization System

摘要

In this article, we introduce <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i>, an innovative visual localization system designed to enhance the autonomy and adaptability of robotic agents in long-term and large-scale applications. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i> specializes in: 1) extracting stable and consistent descriptors for place recognition, unaffected by changes in viewpoint and illumination; 2) performing swift and precise global relocalization to establish a robot's position within a large and complex environment; and 3) generating real-time tracking trajectories aligned with reference maps, ensuring continual orientation within known spaces. Distinctively, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i> incorporates a transformer-based learning module and an attention-enhanced recognition approach, enabling it to adapt to diverse environmental and viewpoint conditions. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i> leverages a coarse-to-fine global feature matching technique for enhanced localization and integrates robust state estimation combining visual odometry and loop closures through local refinement and pose graph optimization. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i> demonstrates remarkable proficiency in place recognition, achieving localization over distances of up to 2 km within 0.5 s with average accuracy at 1 m. It maintains stable localization accuracy, even under variable conditions. Its versatile design allows integration across various environments, significantly broadening the scope of universal localization capabilities in robotics. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">iLoc</i> represents a substantial step forward in visual-based localization systems, delivering unparalleled speed and accuracy in place recognition. Its ability to adapt and respond to diverse environmental stimuli marks it as a crucial tool in advancing the field of robotic localization.