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Mutual calibration between color and depth cameras is a challenging topic in multi-modal data registration. In this paper, we are confronted with a "Bimodal Stereo" problem, which aims to solve camera pose from a pair of an uncalibrated…
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…
Facial landmark localization is a fundamental module for pose-invariant face recognition. The most common approach for facial landmark detection is cascaded regression, which is composed of two steps: feature extraction and facial shape…
In simultaneous localization and mapping (SLAM), image feature point matching process consume a lot of time. The capacity of low-power systems such as embedded systems is almost limited. It is difficult to ensure the timely processing of…
Semi-dense feature matching methods have shown strong performance in challenging scenarios. However, the existing pipeline relies on a global search across the entire feature map to establish coarse matches, limiting further improvements in…
High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…
We propose an sparse Bayesian learning (SBL)-based method that leverages group sparsity and multiple parameterized dictionaries to detect the relevant dictionary entries and estimate their continuous parameters by combining data from…
Localizing textual descriptions within large-scale 3D scenes presents inherent ambiguities, such as identifying all traffic lights in a city. Addressing this, we introduce a method to generate distributions of camera poses conditioned on…
In this paper, we present SPVLoc, a global indoor localization method that accurately determines the six-dimensional (6D) camera pose of a query image and requires minimal scene-specific prior knowledge and no scene-specific training. Our…
Image Splicing Localization (ISL) is a fundamental yet challenging task in digital forensics. Although current approaches have achieved promising performance, the edge information is insufficiently exploited, resulting in poor integrality…
In this paper, we propose a method to apply the popular cascade classifier into face recognition to improve the computational efficiency while keeping high recognition rate. In large scale face recognition systems, because the probability…
Recent progress in deep learning-based models has improved photo-realistic (or perceptual) single-image super-resolution significantly. However, despite their powerful performance, many methods are difficult to apply to real-world…
Image segmentation is a popular area of research in computer vision that has many applications in automated image processing. A recent technique called piecewise flat embeddings (PFE) has been proposed for use in image segmentation; PFE…
Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying…
Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…
Image filters are fast, lightweight and effective, which make these conventional wisdoms preferable as basic tools in vision tasks. In practical scenarios, users have to tweak parameters multiple times to obtain satisfied results. This…
Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…
Asymmetric image retrieval is a task that seeks to balance retrieval accuracy and efficiency by leveraging lightweight and large models for the query and gallery sides, respectively. The key to asymmetric image retrieval is realizing…
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
We propose 6DGS to estimate the camera pose of a target RGB image given a 3D Gaussian Splatting (3DGS) model representing the scene. 6DGS avoids the iterative process typical of analysis-by-synthesis methods (e.g. iNeRF) that also require…