Related papers: Large-scale, real-time visual-inertial localizatio…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…
Image based localization is a classical computer vision challenge, with several well-known datasets. Generally, datasets consist of a visual 3D database that captures the modeled scenery, as well as query images whose 3D pose is to be…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…
Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
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 LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
As technology advances in autonomous mobile robots, mobile service robots have been actively used more and more for various purposes. Especially, serving robots have been not surprising products anymore since the COVID-19 pandemic. One of…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…