相关论文: Self-localization from Images with Small Overlap

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

We propose a novel image based localization system using graph neural networks (GNN). The pretrained ResNet50 convolutional neural network (CNN) architecture is used to extract the important features for each image. Following, the extracted…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

We aim to localize objects in images using image-level supervision only. Previous approaches to this problem mainly focus on discriminative object regions and often fail to locate precise object boundaries. We address this problem by…

Current major approaches to visual recognition follow an end-to-end formulation that classifies an input image into one of the pre-determined set of semantic categories. Parametric softmax classifiers are a common choice for such a closed…

In this study, we explore the use of deep convolutional neural networks (DCNNs) in visual place classification for robotic mapping and localization. An open question is how to partition the robot's workspace into places to maximize the…

Neural implicit representations such as NeRF have revolutionized 3D scene representation with photo-realistic quality. However, existing methods for visual localization within NeRF representations suffer from inefficiency and scalability…

Patch-level image representation is very important for object classification and detection, since it is robust to spatial transformation, scale variation, and cluttered background. Many existing methods usually require fine-grained…

Object localization is an important task in computer vision but requires a large amount of computational power due mainly to an exhaustive multiscale search on the input image. In this paper, we describe a near real-time multiscale search…

This paper presents a new approach for the challenging problem of geo-locating an image using image matching in a structured database of city-wide reference images with known GPS coordinates. We cast the geo-localization as a clustering…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…

Cross-domain image retrieval aims at retrieving images across different domains to excavate cross-domain classificatory or correspondence relationships. This paper studies a less-touched problem of cross-domain image retrieval, i.e.,…

Cross-view localization aims to estimate the 3-DoF pose of a ground-view image by aligning it with aerial or satellite imagery. Existing methods typically address this task through direct regression or feature alignment in a shared…

The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to significantly improve the efficiency of object capture and reconstruction. Existing methods for determining the NBV often overlook view…

Recently, image representation built upon Convolutional Neural Network (CNN) has been shown to provide effective descriptors for image search, outperforming pre-CNN features as short-vector representations. Yet such models are not…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

Matching objects across partially overlapping camera views is crucial in multi-camera systems and requires a view-invariant feature extraction network. Training such a network with cycle-consistency circumvents the need for labor-intensive…