Related papers: FaVoR: Features via Voxel Rendering for Camera Rel…
In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the…
Despite the advancements in deep learning for camera relocalization tasks, obtaining ground truth pose labels required for the training process remains a costly endeavor. While current weakly supervised methods excel in lightweight label…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…
Recent advancements in open-vocabulary 3D scene understanding heavily rely on 3D Gaussian Splatting (3DGS) to register vision-language features into 3D space. However, we identify two critical limitations in these approaches: the spatial…
We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…
Wide field-of-view (FOV) cameras, which capture a larger scene area than narrow FOV cameras, are used in many applications including 3D reconstruction, autonomous driving, and video surveillance. However, wide-angle images contain…
We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…
We present a neural rendering framework that maps a voxelized scene into a high quality image. Highly-textured objects and scene element interactions are realistically rendered by our method, despite having a rough representation as an…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
We present PixTrack, a vision based object pose tracking framework using novel view synthesis and deep feature-metric alignment. We follow an SfM-based relocalization paradigm where we use a Neural Radiance Field to canonically represent…
The creation of high-fidelity 3D assets is often hindered by a 'pixel-level pain point': the loss of high-frequency details. Existing methods often trade off one aspect for another: either sacrificing cross-view consistency, resulting in…
Video retargeting for digital face animation is used in virtual reality, social media, gaming, movies, and video conference, aiming to animate avatars' facial expressions based on videos of human faces. The standard method to represent…
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…
We introduce GSVisLoc, a visual localization method designed for 3D Gaussian Splatting (3DGS) scene representations. Given a 3DGS model of a scene and a query image, our goal is to estimate the camera's position and orientation. We…
The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…
Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…