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Clustering is a long-standing research problem and a fundamental tool in AI and data analysis. The traditional k-center problem, a fundamental theoretical challenge in clustering, has a best possible approximation ratio of 2, and any…
We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…
In computer vision, the estimation of the fundamental matrix is a basic problem that has been extensively studied. The accuracy of the estimation imposes a significant influence on subsequent tasks such as the camera trajectory…
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…
We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…
Clustering face images according to their identity has two important applications: (i) grouping a collection of face images when no external labels are associated with images, and (ii) indexing for efficient large scale face retrieval. The…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
We study a variant of classical clustering formulations in the context of algorithmic fairness, known as diversity-aware clustering. In this variant we are given a collection of facility subsets, and a solution must contain at least a…
Co-localization is the problem of localizing objects of the same class using only the set of images that contain them. This is a challenging task because the object detector must be built without negative examples that can lead to more…
Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…
Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…
This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…
Although many advances have been made in light-field and camera-array image processing, there is still a lack of thorough analysis of the localisation accuracy of different multi-camera systems. By considering the problem from a…
Many algorithms for approximate nearest neighbor search in high-dimensional spaces partition the data into clusters. At query time, in order to avoid exhaustive search, an index selects the few (or a single) clusters nearest to the query…
Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…
Given a point set S and an unknown metric d on S, we study the problem of efficiently partitioning S into k clusters while querying few distances between the points. In our model we assume that we have access to one versus all queries that…
We consider the problem of accurately and efficiently querying a remote server to retrieve information about images captured by a mobile device. In addition to reduced transmission overhead and computational complexity, the retrieval…
In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…
This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…