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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 35 / No. 7: AAAI-21 Technical Tracks 7

VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization

February 1, 2023

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Authors

Kaichen Zhou

University of Oxford


Changhao Chen

National University of Defense Technology


Bing Wang

University of Oxford


Muhamad Risqi U. Saputra

University of Oxford


Niki Trigoni

University of Oxford


Andrew Markham

University of Oxford


DOI:

10.1609/aaai.v35i7.16767


Abstract:

Recent learning-based approaches have achieved impressive results in the field of single-shot camera localization. However, how best to fuse multiple modalities (e.g., image and depth) and to deal with degraded or missing input are less well studied. In particular, we note that previous approaches towards deep fusion do not perform significantly better than models employing a single modality. We conjecture that this is because of the naive approaches to feature space fusion through summation or concatenation which do not take into account the different strengths of each modality. To address this, we propose an end-to-end framework, termed VMLoc, to fuse different sensor inputs into a common latent space through a variational Product-of-Experts (PoE) followed by attention-based fusion. Unlike previous multimodal variational works directly adapting the objective function of vanilla variational auto-encoder, we show how camera localization can be accurately estimated through an unbiased objective function based on importance weighting. Our model is extensively evaluated on RGB-D datasets and the results prove the efficacy of our model. The source code is available at https://github.com/Zalex97/VMLoc.

Topics: AAAI

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HOW TO CITE:

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization Proceedings of the AAAI Conference on Artificial Intelligence (2021) 6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization AAAI 2021, 6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham (2021). VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization. Proceedings of the AAAI Conference on Artificial Intelligence, 6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization. Proceedings of the AAAI Conference on Artificial Intelligence 2021 p.6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. 2021. VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization. "Proceedings of the AAAI Conference on Artificial Intelligence". 6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. (2021) "VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization", Proceedings of the AAAI Conference on Artificial Intelligence, p.6165-6173

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham, "VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization", AAAI, p.6165-6173, 2021.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. "VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization". Proceedings of the AAAI Conference on Artificial Intelligence, 2021, p.6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. "VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization". Proceedings of the AAAI Conference on Artificial Intelligence, (2021): 6165-6173.

Kaichen Zhou||Changhao Chen||Bing Wang||Muhamad Risqi U. Saputra||Niki Trigoni||Andrew Markham. VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization. AAAI[Internet]. 2021[cited 2023]; 6165-6173.


ISSN: 2374-3468


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