Related papers: Leveraging Deep Visual Descriptors for Hierarchica…
Visual localization plays an important role in many applications. However, due to the large appearance variations such as season and illumination changes, as well as weather and day-night variations, it's still a big challenge for robust…
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…
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…
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…
Vision based solutions for the localization of vehicles have become popular recently. We employ an image retrieval based visual localization approach. The database images are kept with GPS coordinates and the location of the retrieved…
Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…
Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…
Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…
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…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…