Related papers: DisCo-FLoc: Semantic-Free Floorplan Localization v…
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…
Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…
While Gaussian Splatting-based Feature Fields (GSFFs) have shown promise for visual localization, this paper highlights that photometrically optimized GSFFs are inherently ill-suited for 2D-3D matching. The volumetric extent of each…
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…
Accurate and robust image-based geo-localization at a global scale is challenging due to diverse environments, visually ambiguous scenes, and the lack of distinctive landmarks in many regions. While contrastive learning methods show…
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…
Floorplans provide a compact representation of the building's structure, revealing not only layout information but also detailed semantics such as the locations of windows and doors. However, contemporary floorplan localization techniques…
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…
Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane…
Partial label learning (PLL) is an important problem that allows each training example to be labeled with a coarse candidate set, which well suits many real-world data annotation scenarios with label ambiguity. Despite the promise, the…
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…
From the intuitive notion of disentanglement, the image variations corresponding to different factors should be distinct from each other, and the disentangled representation should reflect those variations with separate dimensions. To…
Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…
This letter presents LiteLoc, a novel and efficient localizer built on 3D Gaussian Splatting (3DGS). The previous state-of-the-art (SoTA) sparse-to-dense localizer, STDLoc, has shown remarkable localization capability but suffers from…
To date, most existing self-supervised learning methods are designed and optimized for image classification. These pre-trained models can be sub-optimal for dense prediction tasks due to the discrepancy between image-level prediction and…
Existing deep learning-based cross-view geo-localization methods primarily focus on improving the accuracy of cross-domain image matching, rather than enabling models to comprehensively capture contextual information around the target and…
Continual learning (CL) involves acquiring and accumulating knowledge from evolving tasks while alleviating catastrophic forgetting. Recently, leveraging contrastive loss to construct more transferable and less forgetful representations has…
Recent progress in contrastive learning has revolutionized unsupervised representation learning. Concretely, multiple views (augmentations) from the same image are encouraged to map to the similar embeddings, while views from different…
Recently, neural radiance fields (NeRF) have gained significant attention in the field of visual localization. However, existing NeRF-based approaches either lack geometric constraints or require extensive storage for feature matching,…
Contrastive Language-Image Pre-training (CLIP) has been a celebrated method for training vision encoders to generate image/text representations facilitating various applications. Recently, CLIP has been widely adopted as the vision backbone…