Related papers: Is Geometry Enough for Matching in Visual Localiza…
Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…
Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…
We present a novel approach to geolocalising panoramic images on a 2-D cartographic map based on learning a low dimensional embedded space, which allows a comparison between an image captured at a location and local neighbourhoods of the…
Recent advances in multimodal large language models(MLLMs) have led to remarkable progress in visual grounding, enabling fine-grained cross-modal alignment between textual queries and image regions. However, transferring such capabilities…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…
Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
Worldwide visual geo-localization aims to determine the geographic location of an image anywhere on Earth using only its visual content. Despite recent progress, learning expressive representations of geographic space remains challenging…
This paper proposes a multi-view collaborative matching strategy for reliable track construction in complex scenarios. We observe that the pairwise matching paradigms applied to image set matching often result in ambiguous estimation when…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization, i.e.,…
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…
Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…
Visual Geo-localization (VG) is the task of estimating the position where a given photo was taken by comparing it with a large database of images of known locations. To investigate how existing techniques would perform on a real-world…
Feature matching is a crucial technique in computer vision. A unified perspective for this task is to treat it as a searching problem, aiming at an efficient search strategy to narrow the search space to point matches between images. One of…
This paper addresses the problem of determining dense pixel correspondences between two images and its application to geometric correspondence verification in image retrieval. The main contribution is a geometric correspondence verification…
Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…
Geometric understanding - including depth and height perception - is fundamental to intelligence and crucial for navigating our environment. Despite the impressive capabilities of large Vision Language Models (VLMs), it remains unclear how…
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…