Related papers: SD-6DoF-ICLK: Sparse and Deep Inverse Compositiona…

In this work we present a face alignment pipeline based on two novel methods: weighted splitting for K-cluster Regression Forests and 3D Affine Pose Regression for face shape initialization. Our face alignment method is based on the Local…

We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…

We present a method of temporally-invariant image registration for outdoor scenes, with invariance across time of day, across seasonal variations, and across decade-long periods, for low- and high-texture scenes. Our method can be useful…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-the-art 3D acoustic modeling algorithms is highly dependent on…

State-of-the-art approaches toward image restoration can be classified into model-based and learning-based. The former - best represented by sparse coding techniques - strive to exploit intrinsic prior knowledge about the unknown…

In this paper, we present a random-forest based fast cascaded regression model for face alignment, via a novel local feature. Our proposed local lightweight feature, namely intimacy definition feature (IDF), is more discriminative than…

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…

The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

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…

Renovating existing buildings is essential for climate impact. Early-phase renovation planning requires simulations based on thermal 3D models at Level of Detail (LoD) 3, which include features like windows. However, scalable and accurate…

In this letter, we propose a semantics-enhanced solid-state-LiDAR-inertial odometry (SE-LIO) in tree-rich environments. Multiple LiDAR frames are first merged and compensated with the inertial navigation system (INS) to increase the…

In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…

Spike cameras, as an innovative neuromorphic camera that captures scenes with the 0-1 bit stream at 40 kHz, are increasingly employed for the 3D reconstruction task via Neural Radiance Fields (NeRF) or 3D Gaussian Splatting (3DGS). Previous…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…

Learned image compression (LIC) has shown great promise for achieving high rate-distortion performance. However, current LIC methods are often limited in their capability to model the complex correlation structures inherent in natural…