Related papers: Hi^2-GSLoc: Dual-Hierarchical Gaussian-Specific Vi…
Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…
Accurate and fast localization is vital for safe autonomous navigation in GPS-denied areas. Fine-Grained Cross-View Geolocalization (FG-CVG) aims to estimate the precise 2-Degree-of-Freedom (2-DoF) location of a ground image relative to a…
The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…
This paper introduces a novel framework for high-accuracy outdoor user equipment (UE) positioning that applies a conditional generative diffusion model directly to high-dimensional massive MIMO channel state information (CSI). Traditional…
Sparse-view reconstruction models typically require precise camera poses, yet obtaining these parameters from sparse-view images remains challenging. We introduce FreeSplatter, a scalable feed-forward framework that generates high-quality…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
Cross-view geo-localization aims to estimate the location of a query ground image by matching it to a reference geo-tagged aerial images database. As an extremely challenging task, its difficulties root in the drastic view changes and…
Generalizable 3D Gaussian Splatting reconstruction showcases advanced Image-to-3D content creation but requires substantial computational resources and large datasets, posing challenges to training models from scratch. Current methods…
We introduce a novel, multimodal large-scale scene reconstruction benchmark that utilizes newly developed 3D representation approaches: Gaussian Splatting and Neural Radiance Fields (NeRF). Our expansive U-Scene dataset surpasses any…
Cross-view geo-localization aims to estimate the GPS location of a query ground-view image by matching it to images from a reference database of geo-tagged aerial images. To address this challenging problem, recent approaches use panoramic…
Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…
Prior ReLoc3R achieves breakthrough performance with fast 25ms inference and state-of-the-art regression accuracy, yet our analysis reveals subtle geometric inconsistencies in its internal representations that prevent reaching the precision…
Worldwide visual geo-localization aims to determine the geographic location of an image anywhere on Earth using only its visual content. Despite recent progress, learning expressive representations of geographic space remains challenging…
The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…