相关论文: Image Set Querying Based Localization

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

Is it possible to build a system to determine the location where a photo was taken using just its pixels? In general, the problem seems exceptionally difficult: it is trivial to construct situations where no location can be inferred. Yet…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

In applications involving matching of image sets, the information from multiple images must be effectively exploited to represent each set. State-of-the-art methods use probabilistic distribution or subspace to model a set and use specific…

Image-based localization (IBL) aims to estimate the 6DOF camera pose for a given query image. The camera pose can be computed from 2D-3D matches between a query image and Structure-from-Motion (SfM) models. Despite recent advances in IBL,…

The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…

In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to render a synthetic RGBD image at some initial pose estimate.…

Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

Reliable image geolocation is crucial for several applications, ranging from social media geo-tagging to fake news detection. State-of-the-art geolocation methods surpass human performance on the task of geolocation estimation from images.…

This paper presents a visual geo-localization system capable of determining the geographic locations of places (buildings and road intersections) from images without relying on GPS data. Our approach integrates three primary methods:…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

In this work, we address the problem of refining the geometry of local image features from multiple views without known scene or camera geometry. Current approaches to local feature detection are inherently limited in their keypoint…

We describe a method for performing active localization of objects in instances of visual situations. A visual situation is an abstract concept---e.g., "a boxing match", "a birthday party", "walking the dog", "waiting for a bus"---whose…

Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

In this paper, we address the problem of cross-view image geo-localization. Specifically, we aim to estimate the GPS location of a query street view image by finding the matching images in a reference database of geo-tagged bird's eye view…