基于先验地图的视觉重定位方法综述

Survey on Visual Relocalization in Prior Map

在自动驾驶、增强现实和智能移动机器人领域,视觉重定位是非常重要的基础问题.视觉重定位是指根据视觉传感器实时拍摄的数据,在已有先验地图中确定位置和姿态的问题.过去数十年间,该问题受到广泛关注,涌现出种类繁多的先验地图构建方法和视觉重定位方法.这些工作差异大,涉及范围广,技术概括和总结尚缺乏.因此,对视觉重定位领域进行综述具有重要的理论和应用价值.尝试为视觉重定位相关方法建立一个统一的蓝图,从图像数据在大规模地图数据库中查询的角度对相关工作进行分析和总结.综述不同类型地图数据库构建方法、不同特征匹配、重定位和位姿计算方法,总结目前视觉重定位的主流数据集,最后分析视觉重定位存在的挑战和潜在发展方向.

In the fields of autonomous driving,augmented reality,and intelligent mobile robots,visual relocalization is a crucial fundamental issue.It refers to the issue of determining the position and attitude in an existing prior map according to the data captured in real time by visual sensors.In the last decades,visual relocalization has received extensive attention,and numerous kinds of prior map construction methods and visual relocalization methods have come to the fore.These efforts vary considerably and cover a wide scope,but technical overviews and summaries are still unavailable.Therefore,a survey of the field of visual relocalization is valuable both theoretically and practically.This study tries to construct a unified blueprint for visual relocalization methods and summarize related studies from the perspective of image data querying from large-scale map databases.This study surveys various types of construction methods for map databases and different feature matching,relocalization,and pose calculation approaches.It then summarizes the current mainstream datasets for visual relocalization and finally analyzes the challenges ahead and the potential development directions of visual relocalization.