Related papers: ImPosing: Implicit Pose Encoding for Efficient Vis…
Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…
Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place…
We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…
Visual Place Recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map of geo-tagged reference images. In this work, we look into…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
Image geolocalization, inferring the geographic location of an image, is a challenging computer vision problem with many potential applications. The recent state-of-the-art approach to this problem is a deep image classification approach in…
Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…
Smart city research envisions a future in which data-driven solutions and sustainable infrastructure work together to define urban living at the crossroads of urbanization and technology. Within this framework, smart parking systems play an…
Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…
We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…
We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…
This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…
Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…
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…
A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…