Related papers: Retrieval and Localization with Observation Constr…
Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…
Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…
Visual localization refers to the process of determining camera poses and orientation within a known scene representation. This task is often complicated by factors such as changes in illumination and variations in viewing angles. In this…
Two crucial performance criteria for the deployment of visual localization are speed and accuracy. Current research on visual localization with neural networks is limited to examining methods for enhancing the accuracy of networks across…
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…
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…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…
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…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…
Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…
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.…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…
CLIP retrieval is typically framed as a pointwise similarity problem in a shared embedding space. While CLIP achieves strong global cross-modal alignment, many retrieval failures arise from local geometric inconsistencies: nearby items are…
We present LM-Reloc -- a novel approach for visual relocalization based on direct image alignment. In contrast to prior works that tackle the problem with a feature-based formulation, the proposed method does not rely on feature matching…