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Home Research Areas Visual SLAM GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization

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research:vslam:gn-net [2019/09/13 17:22]
Lukas von Stumberg
research:vslam:gn-net [2019/11/27 13:54] (current)
Lukas von Stumberg
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 ===== Downloads ===== ===== Downloads =====
-The **paper** can be downloaded at: http://​arxiv.org/​abs/​1904.11932 \\+The **paper** can be downloaded at: https://​arxiv.org/​abs/​1904.11932 \\
 The **video** is available at: [[https://​youtu.be/​gcbKeKX2eiE|https://​youtu.be/​gcbKeKX2eiE]] \\ The **video** is available at: [[https://​youtu.be/​gcbKeKX2eiE|https://​youtu.be/​gcbKeKX2eiE]] \\
-The **supplementary** can be downloaded at: {{ :​research:​vslam:​gn-net:​gn-net-supplementary.pdf |}}+The **supplementary** can be downloaded at: {{ :​research:​vslam:​gn-net:​gn-net-supplementary.pdf |}} \\ 
 +The **relocalization tracking benchmark dataset** can be downloaded at:  
 +[[https://​vision.in.tum.de/​webshare/​g/​gn-net-benchmark/​gnnet_benchmark_v1.0.zip|gnnet_benchmark_v1.0.zip]]
  
-**The dataset will be published until September 202019.**+====== Results Oxford Robotcar ====== 
 +The following new results include comparisons to D2-Net and SuperPoint. These keypoint-based methods were designed to be used in combination with the PnP algorithm in a RANSAC scheme. 
 +We also show results for a GN-Net model which was only trained on the synthetic CARLA benchmarkbut tested on the Oxford sequences (dashed green). 
 +===== Results Sunny-Overcast ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_sunnyovercast.png?​direct&​500|}} 
 +===== Results Sunny-Rainy ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_sunnyrainy.png?​direct&​500|}} 
 +===== Results Sunny-Snowy ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_sunnysnowy.png?​direct&​500|}} 
 +===== Results Overcast-Rainy ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_overcastrainy.png?​direct&​500|}} 
 +===== Results Overcast-Snowy ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_overcastsnowy.png?​direct&​500|}} 
 +===== Results Rainy-Snowy ===== 
 +{{:​research:​vslam:​gn-net:​relocalizationresult_rainysnowy.png?​direct&​500|}}
  
 <​bibtex>​ <​bibtex>​
 <​keywords>​gn-net</​keywords>​ <​keywords>​gn-net</​keywords>​
 </​bibtex>​ </​bibtex>​

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