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We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…
Detecting semantic parts of an object is a challenging task in computer vision, particularly because it is hard to construct large annotated datasets due to the difficulty of annotating semantic parts. In this paper we present an approach…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
Vehicles, as one of the most common and significant objects in the real world, the researches on which using computer vision technologies have made remarkable progress, such as vehicle detection, vehicle re-identification, etc. To search an…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…
Aerial image analysis at a semantic level is important in many applications with strong potential impact in industry and consumer use, such as automated mapping, urban planning, real estate and environment monitoring, or disaster relief.…
Vehicle Re-identification is attracting more and more attention in recent years. One of the most challenging problems is to learn an efficient representation for a vehicle from its multi-viewpoint images. Existing methods tend to derive…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…
Images can vary according to changes in viewpoint, resolution, noise, and illumination. In this paper, we aim to learn representations for an image, which are robust to wide changes in such environmental conditions, using training pairs of…
Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…
An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…
Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space…
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,…
Fine-grained image retrieval, which aims to find images containing specific object components and assess their detailed states, is critical in fields like security and industrial inspection. However, conventional methods face significant…
We propose a novel approach to feature point matching, suitable for robust and accurate outdoor visual localization in long-term scenarios. Given a query image, we first match it against a database of registered reference images, using…
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…