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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…
Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…
Image based localization is a classical computer vision challenge, with several well-known datasets. Generally, datasets consist of a visual 3D database that captures the modeled scenery, as well as query images whose 3D pose is to be…
We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…
Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Recognition of the surrounding environment using a camera is an important technology in Advanced Driver-Assistance Systems and Autonomous Driving, and recognition technology is often solved by machine learning approaches such as deep…
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…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…
We consider the problem of segmenting dynamic regions in CrowdCam images, where a dynamic region is the projection of a moving 3D object on the image plane. Quite often, these regions are the most interesting parts of an image. CrowdCam…
A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…
Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…