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We present a complete map management process for a visual localization systemdesigned for multi-vehicle long- term operations in resource constrainedoutdoor environments. Outdoor visual localization generates large amounts ofdata that need to be incorporated into a lifelong visual map in order to allowlocalization at all times and under all appearance conditions. Processing theselarge quantities of data is non- trivial, as it is subject to limitedcomputational and storage capabilities both on the vehicle and on the mappingbackend. We address this problem with a two-fold map update paradigm capableof, either, adding new visual cues to the map, or updating co-observationstatistics. The former, in combination with offline map summarizationtechniques, allows enhancing the appearance coverage of the lifelong map whilekeeping the map size limited. On the other hand, the latter is able tosignificantly boost the appearance-based landmark selection for efficientonline localization without incurring any additional computational or storageburden. Our evaluation in challenging outdoor conditions shows that ourproposed map management process allows building and maintaining maps forprecise visual localization over long time spans in a tractable and scalablefashion.

Map Management for Efficient Long-Term Visual Localization in Outdoor Environments