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arXiv · 2101.09569

S-BEV: Semantic Birds-Eye View Representation for Weather and Lighting Invariant 3-DoF Localization

Mokshith Voodarla·Shubham Shrivastava·Sagar Manglani·Ankit Vora·Siddharth Agarwal·Punarjay Chakravarty
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Abstract

We describe a light-weight, weather and lighting invariant, Semantic Bird's Eye View (S-BEV) signature for vision-based vehicle re-localization. A topological map of S-BEV signatures is created during the first traversal of the route, which are used for coarse localization in subsequent route traversal. A fine-grained localizer is then trained to output the global 3-DoF pose of the vehicle using its S-BEV and its coarse localization. We conduct experiments on vKITTI2 virtual dataset and show the potential of the S-BEV to be robust to weather and lighting. We also demonstrate results with 2 vehicles on a 22 km long highway route in the Ford AV dataset.

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Mokshith Voodarla, Shubham Shrivastava, Sagar Manglani, Ankit Vora, Siddharth Agarwal, Punarjay Chakravarty. 2021-01-23. S-BEV: Semantic Birds-Eye View Representation for Weather and Lighting Invariant 3-DoF Localization. https://arxiv.org/abs/2101.09569

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