Related papers: LASER: LAtent SpacE Rendering for 2D Visual Locali…

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…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

To date, the most common approach for radiology deep learning pipelines is the use of end-to-end 3D networks based on models pre-trained on other tasks, followed by fine-tuning on the task at hand. In contrast, adjacent medical fields such…

Decades of cognitive science establish that humans navigate environments by forming cognitive maps, defined as allocentric and topology-preserving representations of 3D space. While modern Vision-Language Models (VLMs) demonstrate emergent…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

The 3D visual grounding task has been explored with visual and language streams comprehending referential language to identify target objects in 3D scenes. However, most existing methods devote the visual stream to capturing the 3D visual…

Directly learning to model 4D content, including shape, color, and motion, is challenging. Existing methods rely on pose priors for motion control, resulting in limited motion diversity and continuity in details. To address this, we propose…

Machine learning (ML) tools such as encoder-decoder convolutional neural networks (CNN) can represent incredibly complex nonlinear functions which map between combinations of images and scalars. For example, CNNs can be used to map…

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…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

In this paper, we propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, SVBRDF, and 3D spatially-varying lighting. While multi-view images have been widely used for object-level…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

We present a new latent model of natural images that can be learned on large-scale datasets. The learning process provides a latent embedding for every image in the training dataset, as well as a deep convolutional network that maps the…

State-of-the-art single-view 360-degree room layout reconstruction methods formulate the problem as a high-level 1D (per-column) regression task. On the other hand, traditional low-level 2D layout segmentation is simpler to learn and can…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…