Related papers: Is Geometry Enough for Matching in Visual Localiza…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…
Remote sensing (RS) visual grounding aims to use natural language expression to locate specific objects (in the form of the bounding box or segmentation mask) in RS images, enhancing human interaction with intelligent RS interpretation…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Despite advances in feature representation, leveraging geometric relations is crucial for establishing reliable visual correspondences under large variations of images. In this work we introduce a Hough transform perspective on…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
We present the design of an entire on-device system for large-scale urban localization using images. The proposed design integrates compact image retrieval and 2D-3D correspondence search to estimate the location in extensive city regions.…
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.…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…
Geometric differences between cross-view images, such as drone and satellite views, significantly increase the challenge of Cross-View Geo-Localization (CVGL), which aims to acquire the geolocation of images by image retrieval. To further…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
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…
This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
Recent advances in feature learning have shown that self-supervised vision foundation models can capture semantic correspondences but often lack awareness of underlying 3D geometry. GECO addresses this gap by producing geometrically…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
Visual localization is the task of estimating the camera pose from which a given image was taken and is central to several 3D computer vision applications. With the rapid growth in the popularity of AR/VR/MR devices and cloud-based…
Cross-view geolocalization identifies the geographic location of street view images by matching them with a georeferenced satellite database. Significant challenges arise due to the drastic appearance and geometry differences between views.…