相关论文: Image Set Querying Based Localization

In the context of optimization, visualization techniques can be useful for understanding the behaviour of optimization algorithms and can even provide a means to facilitate human interaction with an optimizer. Towards this goal, an…

In this work, we present a camera geopositioning system based on matching a query image against a database with panoramic images. For matching, our system uses memory vectors aggregated from global image descriptors based on convolutional…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Image matching is still challenging in such scenes with large viewpoints or illumination changes or with low textures. In this paper, we propose a Transformer-based pseudo 3D image matching method. It upgrades the 2D features extracted from…

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…

Augmented reality aims to enrich our real world by inserting 3D virtual objects. In order to accomplish this goal, it is important that virtual elements are rendered and aligned in the real scene in an accurate and visually acceptable way.…

State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life…

An efficient method is proposed for refining GPS-acquired location coordinates in urban areas using camera images, Google Street View (GSV) and sensor parameters. The main goal is to compensate for GPS location imprecision in dense area of…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

We consider detecting objects in an image by iteratively selecting from a set of arbitrarily shaped candidate regions. Our generic approach, which we term visual chunking, reasons about the locations of multiple object instances in an image…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

The image-to-GPS verification problem asks whether a given image is taken at a claimed GPS location. In this paper, we treat it as an image verification problem -- whether a query image is taken at the same place as a reference image…

In video based face recognition, face images are typically captured over multiple frames in uncontrolled conditions, where head pose, illumination, shadowing, motion blur and focus change over the sequence. Additionally, inaccuracies in…

This paper explores the task of interactive image retrieval using natural language queries, where a user progressively provides input queries to refine a set of retrieval results. Moreover, our work explores this problem in the context of…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…

Feature point matching for camera localization suffers from scalability problems. Even when feature descriptors associated with 3D scene points are locally unique, as coverage grows, similar or repeated features become increasingly common.…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

Large-scale visual localization systems continue to rely on 3D point clouds built from image collections using structure-from-motion. While the 3D points in these models are represented using local image features, directly matching a query…