Related papers: Is This The Right Place? Geometric-Semantic Pose V…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
Visual Place Recognition (VPR) is a critical task in computer vision, traditionally enhanced by re-ranking retrieval results with image matching. However, recent advancements in VPR methods have significantly improved performance,…
Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…
Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Face detection is an important first step before face verification and recognition. In unconstrained settings it is still an open challenge because of the variation in pose, lighting, scale, background and location. However, for the…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…
The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…
Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…
Recent advances in deep learning and computer vision offer an excellent opportunity to investigate high-level visual analysis tasks such as human localization and human pose estimation. Although the performance of human localization and…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
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…
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…
To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…
Any city-scale visual localization system has to overcome long-term appearance changes, such as varying illumination conditions or seasonal changes between query and database images. Since semantic content is more robust to such changes, we…
We study the task of locating a user in a mapped indoor environment using natural language queries and images from the environment. Building on recent pretrained vision-language models, we learn a similarity score between text descriptions…