mlsanityData to 7 Oct 2026

Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments

arXiv 2103.03827 ↗First posted 5 Mar 2021cs.RO cs.CVcited by 4

Not on the map. Why?

Abstract (arXiv)

For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a multi-session visual SLAM approach to create a map made of multiple variations of the same locations in different illumination conditions. The multi-session map can then be used at any hour of the day for improved re-localization capability. The approach presented is independent of the visual features used, and this is demonstrated by comparing re-localization performance between multi-session maps created using the RTAB-Map library with SURF, SIFT, BRIEF, BRISK, KAZE, DAISY and SuperPoint visual features. The approach is tested on six mapping and six localization sessions recorded at 30 minute intervals during sunset using a Google Tango phone in a real apartment.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 9 of its 57 references that are in the map. First posted on arXiv 5 Mar 2021.

Builds on

9 of 57 references.

References · 9

  1. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  2. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  3. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  4. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  5. 2020Visual Camera Re-Localization from RGB and RGB-D Images Using DSACcited by 176
  6. 2015On the Performance of ConvNet Features for Place Recognitioncited by 72
  7. 2019Are We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAMcited by 39
  8. 2018Appearance-Based Landmark Selection for Efficient Long-Term Visual Localizationcited by 3
  9. 2016HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensorcited by 1

Built on by

Cited by year

Citing papers per year: 2023: 2; 2024: 1; 2025: 1.

4 papers.

  1. 2024Multi-Session SLAM with Differentiable Wide-Baseline Pose Optimizationcited by 6
  2. 2023Visual Semantic Navigation with Real Robotscited by 2
  3. 2023CyberLoc: Towards Accurate Long-term Visual Localizationcited by 0
  4. 2025LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletonscited by 0