Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
In this letter, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with associated descriptors and scores that can be used together with a classical pose estimator for localization. Our training pipeline includes a differentiable pose estimator such that training can be supervised with ground truth poses from data collected earlier, in our case from 2016 and 2017 gathered with multi-experience Visual Teach and Repeat (VT&R). We insert the learned features into the existing VT&R pipeline to perform closed-loop path following in unstructured outdoor environments. We show successful path following across all lighting conditions despite the robot’s map being constructed using daylight conditions. Moreover, we explore generalizability of the features by driving the robot across all lighting conditions in new areas not present in the feature training dataset. In all, we validated our approach with 35.5 km of autonomous path following experiments in challenging conditions.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it