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Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation. However, current SCR methods often face challenges in…

Scene coordinate regression (SCR) has established itself as a promising learning-based approach to visual relocalization. After mere minutes of scene-specific training, SCR models estimate camera poses of query images with high accuracy.…

Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale…

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…

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…

Scene coordinate regression (SCR) models have proven to be powerful implicit scene representations for 3D vision, enabling visual relocalization and structure-from-motion. SCR models are trained specifically for one scene. If training…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

Visual localization is considered to be one of the crucial parts in many robotic and vision systems. While state-of-the art methods that relies on feature matching have proven to be accurate for visual localization, its requirements for…

Image-based camera relocalization is an important problem in computer vision and robotics. Recent works utilize convolutional neural networks (CNNs) to regress for pixels in a query image their corresponding 3D world coordinates in the…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…

As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

We present a novel neural RGB-D Simultaneous Localization And Mapping (SLAM) system that learns an implicit map of the scene in real time. For the first time, we explore the use of Scene Coordinate Regression (SCR) as the core implicit map…

Many applications require a camera to be relocalised online, without expensive offline training on the target scene. Whilst both keyframe and sparse keypoint matching methods can be used online, the former often fail away from the training…

Existing supervised action segmentation methods depend on the quality of frame-wise classification using attention mechanisms or temporal convolutions to capture temporal dependencies. Even boundary detection-based methods primarily depend…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Recovering the 3D structure of the scene from images yields useful information for tasks such as shape and scene recognition, object detection, or motion planning and object grasping in robotics. In this thesis, we introduce a general…

Symbolic Regression aims to automatically identify compact and interpretable mathematical expressions that model the functional relationship between input and output variables. Most existing search-based symbolic regression methods…

While object detection methods traditionally make use of pixel-level masks or bounding boxes, alternative representations such as polygons or active contours have recently emerged. Among them, methods based on the regression of Fourier or…