Related papers: NeuMap: Neural Coordinate Mapping by Auto-Transdec…

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust…

We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

When performing localization and mapping, working at the level of structure can be advantageous in terms of robustness to environmental changes and differences in illumination. This paper presents SegMap: a map representation solution to…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously…

Scene coordinates regression (SCR), i.e., predicting 3D coordinates for every pixel of a given image, has recently shown promising potential. However, existing methods remain limited to small scenes memorized during training, and thus…

We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…

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 an end-to-end learned image data hiding framework that embeds and extracts secrets in the latent representations of a generic neural compressor. By leveraging a perceptual loss function in conjunction with our proposed message…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from…

How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…

Autoencoder-based image codecs achieve state-of-the-art compression performance but often incur high computational complexity, particularly at decoding time. This work introduces a low-complexity learned image compression framework based on…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

In this paper, we present a framework for computing dense keypoint correspondences between images under strong scene appearance changes. Traditional methods, based on nearest neighbour search in the feature descriptor space, perform poorly…

This paper introduces FlowMap, an end-to-end differentiable method that solves for precise camera poses, camera intrinsics, and per-frame dense depth of a video sequence. Our method performs per-video gradient-descent minimization of a…