Camera Pose Estimation and Localization with Active Audio Sensing.

In this work, we show how to estimate a device's position and orientation indoors by echolocation, i.e., by interpreting the echoes of an audio signal that the device itself emits. Established visual localization methods rely on the device's camera and yield excellent accuracy if unique visual features are in view and depicted clearly. We argue that audio sensing can offer complementary information to vision for device localization, since audio is invariant to adverse visual conditions and can reveal scene information beyond a camera's field of view. We first propose a strategy for learning an audio representation that captures the scene geometry around a device using supervision transfer from vision. Subsequently, we leverage this audio representation to complement vision in three device localization tasks: relative pose estimation, place recognition, and absolute pose regression. Our proposed methods outperform state-of-the-art vision models on new audio-visual benchmarks for the Replica and Matterport3D datasets.