Domain-invariant Similarity Activation Map Metric Learning for Retrieval-based Long-term Visual Localization

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of environmental conditions, e.g. illumination, seasonal and weather changes, retrieval-based visual localization is severely affected and becomes a challenging problem. In this work, a general architecture is first formulated probabilistically to extract domain-invariant feature through multi-domain image translation. And then a novel gradient-weighted similarity activation mapping loss (Grad-SAM) is incorporated for finer localization with high accuracy. We also propose a new adaptive triplet loss to boost the metric learning of the embedding in a self-supervised manner. The final coarse-to-fine image retrieval pipeline is implemented as the sequential combination of models without and with Grad-SAM loss. Extensive experiments have been conducted to validate the effectiveness of the proposed approach on the CMU-Seasons dataset. The strong generalization ability of our approach is verified on RobotCar dataset using models pre-trained on urban part of CMU-Seasons dataset. Our performance is on par with or even outperforms the state-of-the-art image-based localization baselines in medium or high precision, especially under the challenging environments with illumination variance, vegetation and night-time images. Moreover, real-site experiments have been conducted to validate the efficiency and effectiveness of the coarse-to-fine strategy for localization.