Relative Camera Pose Estimation using Synthetic Data with Domain Adaptation via Cycle-Consistent Adversarial Networks

Abstract

Learning-based visual localization has become prospective over the past decades. Since ground truth pose labels are difficult to obtain, recent methods try to learn pose estimation networks using pixel-perfect synthetic data. However, this also introduces the problem of domain bias. In this paper, we first build a Tuebingen Buildings dataset of RGB images collected by a drone in urban scenes and create a 3D model for each scene. A large number of synthetic images are generated based on these 3D models. We take advantage of image style transfer and cycle-consistent adversarial training to predict the relative camera poses of image pairs based on training over synthetic environment data. We propose a relative camera pose estimation approach to solve the continuous localization problem for autonomous navigation of unmanned systems. Unlike those existing learning-based camera pose estimation methods that train and test in a single scene, our approach successfully estimates the relative camera poses of multiple city locations with a single trained model. We use the Tuebingen Buildings and the Cambridge Landmarks datasets to evaluate the performance of our approach in a single scene and across-scenes. For each dataset, we compare the performance between real images and synthetic images trained models. We also test our model in the indoor dataset 7Scenes to demonstrate its generalization ability.