Look no deeper: Recognizing places from opposing viewpoints under varying scene appearance using single-view depth estimation (with Sourav Garg, Madhu Babu, Thanuja Dharmasiri, Stephen Hausler, Niko Suenderhauf, Swagat Kumar and Michael Milford)

This paper presents an approach to solving the hard problem of finding correspondences and localisation under extreme (180°) viewpoint variations.  Depth estimation is used to filter key points for probable appearance in the opposing view and a robust descriptor is learned to aid matching.

[ICRA 2019 paper]