Related papers: ViewBridge:Revisiting Cross-View Localization from…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the…

Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…

Geometric models like DUSt3R have shown great advances in understanding the geometry of a scene from pairs of photos. However, they fail when the inputs are from vastly different viewpoints (e.g., aerial vs. ground) or modalities (e.g.,…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…

Remarkable progress has been made in self-supervised monocular depth estimation (SS-MDE) by exploring cross-view consistency, e.g., photometric consistency and 3D point cloud consistency. However, they are very vulnerable to illumination…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

The visual entities in cross-view images exhibit drastic domain changes due to the difference in viewpoints each set of images is captured from. Existing state-of-the-art methods address the problem by learning view-invariant descriptors…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

In advanced paradigms of autonomous driving, learning Bird's Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not…

Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing…

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…

Cross-view geo-localization infers a location by retrieving geo-tagged reference images that visually correspond to a query image. However, the traditional satellite-centric paradigm limits robustness when high-resolution or up-to-date…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Histopathology image segmentation is the gold standard for diagnosing cancer, and can indicate cancer prognosis. However, histopathology image segmentation requires high-quality masks, so many studies now use imagelevel labels to achieve…

Camera-based bird-eye-view (BEV) perception paradigm has made significant progress in the autonomous driving field. Under such a paradigm, accurate BEV representation construction relies on reliable depth estimation for multi-camera images.…

We describe a light-weight, weather and lighting invariant, Semantic Bird's Eye View (S-BEV) signature for vision-based vehicle re-localization. A topological map of S-BEV signatures is created during the first traversal of the route, which…