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Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing attention from researchers. However, as a compact and…
Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…
In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not…
Visual Floorplan Localization (FLoc) struggles with severe structural aliasing caused by repetitive minimalist layouts. This occurs because physically distant poses share highly similar visual-geometric features, which degrades spatial…
Inferring the 3D structure of a scene from a single image is an ill-posed and challenging problem in the field of vision-centric autonomous driving. Existing methods usually employ neural radiance fields to produce voxelized 3D occupancy,…
Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…
Visual localization plays an important role in the applications of Augmented Reality (AR), which enable AR devices to obtain their 6-DoF pose in the pre-build map in order to render virtual content in real scenes. However, most existing…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…
Single-view 3D object reconstruction has seen much progress, yet methods still struggle generalizing to novel shapes unseen during training. Common approaches predominantly rely on learned global shape priors and, hence, disregard detailed…
Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…
Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing approaches largely rely on depth priors (e.g., DepthAnything)…
In this paper, we propose to go beyond the well-established approach to vision-based localization that relies on visual descriptor matching between a query image and a 3D point cloud. While matching keypoints via visual descriptors makes…
Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…
We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…
We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…
Text-to-3D generation by distilling pretrained large-scale text-to-image diffusion models has shown great promise but still suffers from inconsistent 3D geometric structures (Janus problems) and severe artifacts. The aforementioned problems…
Three-dimensional Gaussian Splatting (3DGS) has recently emerged as an efficient representation for novel-view synthesis, achieving impressive visual quality. However, in scenes dominated by large and low-texture regions, common in indoor…