Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Retrieval-based Localization Based on Domain-invariant Feature Learning
  under Changing Environments   Visual localization is a crucial problem in mobile robotics and autonomous
driving. One solution is to retrieve images with known pose from a database for
the localization of query images. However, in environments with drastically
varying conditions (e.g. illumination changes, seasons, occlusion, dynamic
objects), retrieval-based localization is severely hampered and becomes a
challenging problem. In this paper, a novel domain-invariant feature learning
method (DIFL) is proposed based on ComboGAN, a multi-domain image translation
network architecture. By introducing a feature consistency loss (FCL) between
the encoded features of the original image and translated image in another
domain, we are able to train the encoders to generate domain-invariant features
in a self-supervised manner. To retrieve a target image from the database, the
query image is first encoded using the encoder belonging to the query domain to
obtain a domain-invariant feature vector. We then preform retrieval by
selecting the database image with the most similar domain-invariant feature
vector. We validate the proposed approach on the CMU-Seasons dataset, where we
outperform state-of-the-art learning-based descriptors in retrieval-based
localization for high and medium precision scenarios.

13
The categories of this paper are: quant-ph
5
The categories of this paper are: gr-qc
32
The categories of this paper are: atom-ph
36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
24
The categories of this paper are: dg-ga
20
The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex
14
The categories of this paper are: math-ph
30
The categories of this paper are: q-alg
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
31
The categories of this paper are: ao-sci
6
The categories of this paper are: astro-ph
25
The categories of this paper are: patt-sol
9
The categories of this paper are: nlin