An Indoor Scene Localization Method Using Graphical Summary of Multi-View RGB-D Images

Abstract

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The graphical summary of multi-view scene can be readily utilized for tasks such as indoor localization. Existing methods for multi-view indoor localization consider the entire scene for localization purposes by assigning equal importance to all components/objects. In this paper, we propose a novel indoor localization method querying a graphical summary of the scene from the graphical summary of the multi-view RGB-D scenes. Salient objects have been utilized to construct the graphical summaries. The proposed method achieves the best accuracy of 0.90 in scene localization among state-of-the-art methods. Source code is available at https://github.com/preeti-me/MVGSL.