# Accurate Visual Localization for Automotive Applications

## TL;DR

This paper introduces a scalable, real-time visual localization method for vehicles that combines visual and GPS data, significantly improving accuracy in urban environments, and provides a new large-scale dataset for benchmarking.

## Contribution

It presents a hybrid coarse-to-fine visual localization approach using self-supervised learning and a new urban driving dataset for evaluation.

## Key findings

- Reduces localization error by an order of magnitude in urban settings.
- Efficient visual retrieval enabled by compact road image representation.
- Effective fusion of visual cues with GPS and ego-motion for high accuracy.

## Abstract

Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant localization errors in many urban areas. Approaches for accurate localization from imagery often rely on structure-based techniques, and thus are limited in scale and are expensive to compute. In this paper, we present a scalable visual localization approach geared for real-time performance. We propose a hybrid coarse-to-fine approach that leverages visual and GPS location cues. Our solution uses a self-supervised approach to learn a compact road image representation. This representation enables efficient visual retrieval and provides coarse localization cues, which are fused with vehicle ego-motion to obtain high accuracy location estimates. As a benchmark to evaluate the performance of our visual localization approach, we introduce a new large-scale driving dataset based on video and GPS data obtained from a large-scale network of connected dash-cams. Our experiments confirm that our approach is highly effective in challenging urban environments, reducing localization error by an order of magnitude.