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Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
We introduce GSVisLoc, a visual localization method designed for 3D Gaussian Splatting (3DGS) scene representations. Given a 3DGS model of a scene and a query image, our goal is to estimate the camera's position and orientation. We…
One of key technologies for future large-scale location-aware services in access is a scalable indoor localization technique. In this paper, we report preliminary results from our investigation on the use of deep neural networks (DNNs) for…
Structural parameters are normally extracted from observed galaxies by fitting analytic light profiles to the observations. Obtaining accurate fits to high-resolution images is a computationally expensive task, requiring many model…
Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…
In this paper we solve on GPUs massive problems with large amount of data, which are not appropriate for solution with the SIMD technology. For the given problem we consider a three-level parallelization. The multithreading of CPU is used…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
Compressive sensing promises to enable bandwidth-efficient on-board compression of astronomical data by lifting the encoding complexity from the source to the receiver. The signal is recovered off-line, exploiting GPUs parallel computation…
Virtual Reality systems provide many opportunities for scientific research and consumer enjoyment; however, they are more demanding than traditional desktop applications and require a wired connection to desktops in order to enjoy maximum…
We pose video object segmentation as spectral graph clustering in space and time, with one graph node for each pixel and edges forming local space-time neighborhoods. We claim that the strongest cluster in this video graph represents the…
To identify the location of objects of a particular class, a passive computer vision system generally processes all the regions in an image to finally output few regions. However, we can use structure in the scene to search for objects…
We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
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…
For several emerging technologies such as augmented reality, autonomous driving and robotics, visual localization is a critical component. Directly regressing camera pose/3D scene coordinates from the input image using deep neural networks…
We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…
Image segmentation plays an important role in computer vision, object detection, traffic control, and video surveillance. Typically, it is a critical step in the 3D reconstruction of a specific organ in medical image processing which…
Keypoint detection and description is fundamental yet important in many vision applications. Most existing methods use detect-then-describe or detect-and-describe strategy to learn local features without considering their context…
Many methods have been developed to help people find the video contents they want efficiently. However, there are still some unsolved problems in this area. For example, given a query video and a reference video, how to accurately localize…
Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…