Camera Tracking in Lighting Adaptable Maps of Indoor Environments

Tracking the pose of a camera is at the core of visual localization methods used in many applications. As the observations of a camera are inherently affected by lighting, it has always been a challenge for these methods to cope with varying lighting conditions. Thus far, this issue has mainly been approached with the intent to increase robustness by choosing lighting invariant map representations. In contrast, our work aims at explicitly exploiting lighting effects for camera tracking. To achieve this, we propose a lighting adaptable map representation for indoor environments that allows real-time rendering of the scene illuminated by an arbitrary subset of the lamps contained in the model. Our method for estimating the light setting from the current camera observation enables us to adapt the model according to the lighting conditions present in the scene. As a result, lighting effects like cast shadows do no longer act as disturbances that demand robustness but rather as beneficial features when matching observations against the map. We leverage these capabilities in a direct dense camera tracking approach and demonstrate its performance in realworld experiments in scenes with varying lighting conditions.