相关论文: Mapping and Localization from Planar Markers

This paper studies the problem of constructing polytopic representations of planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…

Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…

Adding fiducial markers to a scene is a well-known strategy for making visual localization algorithms more robust. Traditionally, these marker locations are selected by humans who are familiar with visual localization techniques. This paper…

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…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

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…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric…

The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy by ground-to-satellite image matching after a coarse…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…