{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/end-to-end-learning-improves-static-object","title":"End-to-end Learning Improves Static Object Geo-localization in Monocular Video","arxiv_id":"2004.05232","date":"2020-04-10","proceeding":null,"authors":["Mohamed Chaabane","Lionel Gueguen","Ameni Trabelsi","Ross Beveridge","Stephen O'Hara"],"abstract":"Accurately estimating the position of static objects, such as traffic lights, from the moving camera of a self-driving car is a challenging problem. In this work, we present a system that improves the localization of static objects by jointly-optimizing the components of the system via learning. Our system is comprised of networks that perform: 1) 5DoF object pose estimation from a single image, 2) association of objects between pairs of frames, and 3) multi-object tracking to produce the final geo-localization of the static objects within the scene. We evaluate our approach using a publicly-available data set, focusing on traffic lights due to data availability. For each component, we compare against contemporary alternatives and show significantly-improved performance. We also show that the end-to-end system performance is further improved via joint-training of the constituent models.","url_abs":"https://arxiv.org/abs/2004.05232v4","url_pdf":"https://arxiv.org/pdf/2004.05232v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"end-to-end-learning-improves-static-object","repo_url":"https://github.com/medchaabane/static_objects_geolocalization","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"multi-object-tracking","task_name":"Multi-Object Tracking"},{"task_slug":"object-tracking","task_name":"Object Tracking"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":null,"task_name":"Position"},{"task_slug":"geo-localization","task_name":"geo-localization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}