Related papers: Matching Query Image Against Selected NeRF Feature…
Neural Radiance Fields (NeRFs) have emerged as a standard framework for representing 3D scenes and objects, introducing a novel data type for information exchange and storage. Concurrently, significant progress has been made in multimodal…
Recent efforts in Neural Rendering Fields (NeRF) have shown impressive results on novel view synthesis by utilizing implicit neural representation to represent 3D scenes. Due to the process of volumetric rendering, the inference speed for…
Recent advances in neural radiance fields (NeRFs) achieve state-of-the-art novel view synthesis and facilitate dense estimation of scene properties. However, NeRFs often fail for large, unbounded scenes that are captured under very sparse…
Precise scene understanding is key for most robot monitoring and intervention tasks in agriculture. In this work we present PAg-NeRF which is a novel NeRF-based system that enables 3D panoptic scene understanding. Our representation is…
Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…
Neural Radiance Fields or NeRFs have become the representation of choice for problems in view synthesis or image-based rendering, as well as in many other applications across computer graphics and vision, and beyond. At their core, NeRFs…
Classical structural-based visual localization methods offer high accuracy but face trade-offs in terms of storage, speed, and privacy. A recent innovation, keypoint scene coordinate regression (KSCR) named D2S addresses these issues by…
In indoor scenes, the diverse distribution of object locations and scales makes the visual 3D perception task a big challenge. Previous works (e.g, NeRF-Det) have demonstrated that implicit representation has the capacity to benefit the…
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…
Neural radiance fields (NeRF) is a promising approach for generating photorealistic images and representing complex scenes. However, when processing data sequentially, it can suffer from catastrophic forgetting, where previous data is…
Neural Radiance Fields (NeRF) methods excel at 3D reconstruction from multiple 2D images, even those taken with unknown camera poses. However, they still miss the fine-detailed structures that matter in industrial inspection, e.g.,…
We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…
Recent works on generalizable NeRFs have shown promising results on novel view synthesis from single or few images. However, such models have rarely been applied on other downstream tasks beyond synthesis such as semantic understanding and…
Many tasks performed in image-guided procedures can be cast as pose estimation problems, where specific projections are chosen to reach a target in 3D space. In this study, we first develop a differentiable projection (DiffProj) rendering…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
Large-scale Neural Radiance Fields (NeRF) reconstructions are typically hindered by the requirement for extensive image datasets and substantial computational resources. This paper introduces IOVS4NeRF, a framework that employs an…
3D pose estimation is a challenging but important task in computer vision. In this work, we show that standard deep learning approaches to 3D pose estimation are not robust when objects are partially occluded or viewed from a previously…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine…
Template matching is a fundamental problem in computer vision with applications in fields including object detection, image registration, and object tracking. Current methods rely on nearest-neighbour (NN) matching, where the query feature…