Related papers: Hybrid Scene Compression for Visual Localization
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Capturing and rendering novel views of complex real-world scenes is a long-standing problem in computer graphics and vision, with applications in augmented and virtual reality, immersive experiences and 3D photography. The advent of deep…
Visual analytics have played an increasingly critical role in the Internet of Things, where massive visual signals have to be compressed and fed into machines. But facing such big data and constrained bandwidth capacity, existing…
Remote sensing (RS) images are usually stored in compressed format to reduce the storage size of the archives. Thus, existing content-based image retrieval (CBIR) systems in RS require decoding images before applying CBIR (which is…
3D Gaussian Splatting (3DGS) has emerged as a promising framework for novel view synthesis, boasting rapid rendering speed with high fidelity. However, the substantial Gaussians and their associated attributes necessitate effective…
Real world re-identfication (ReID) algorithms aim to map new observations of an object to previously recorded instances. These systems are often constrained by quantity and size of the stored embeddings. To combat this scaling problem, we…
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…
Humans perceive and construct the surrounding world as an arrangement of simple parametric models. In particular, man-made environments commonly consist of volumetric primitives such as cuboids or cylinders. Inferring these primitives is an…
Deep neural object detection or segmentation networks are commonly trained with pristine, uncompressed data. However, in practical applications the input images are usually deteriorated by compression that is applied to efficiently transmit…
In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…
We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…
Compressed sensing (CS) is a powerful method routinely employed to accelerate image acquisition. It is particularly suited to situations when the image under consideration is sparse but can be sampled in a basis where it is non-sparse. Here…
Unlike 2D raster images, there is no single dominant representation for 3D visual data processing. Different formats like point clouds, meshes, or implicit functions each have their strengths and weaknesses. Still, grid representations such…
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…
Lidars are depth measuring sensors widely used in autonomous driving and augmented reality. However, the large volume of data produced by lidars can lead to high costs in data storage and transmission. While lidar data can be represented as…
We have implemented a method that detects planar regions from 3D scan data using Random Sample Consensus (RANSAC) algorithm to address the issue of a trade-off between the scanning speed and the point density of 3D scanning. However, the…
Novel view synthesis has made significant progress in the field of 3D computer vision. However, the rendering of view-consistent novel views from imperfect camera poses remains challenging. In this paper, we introduce a hybrid…