相关论文: Visual Place Recognition with Probabilistic Vertex…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Visual localization in large and complex indoor scenes, dominated by weakly textured rooms and repeating geometric patterns, is a challenging problem with high practical relevance for applications such as Augmented Reality and robotics. To…

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…

In this work we propose a method that geolocates videos within a delimited widespread area based solely on the frames visual content. Our proposed method tackles video-geolocation through traditional image retrieval techniques considering…

A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting conditions. Numerous approaches based on deep-learnt image…

We propose a novel method of deep spatial matching (DSM) for image retrieval. Initial ranking is based on image descriptors extracted from convolutional neural network activations by global pooling, as in recent state-of-the-art work.…

We propose a method for annotating the location of objects in ImageNet. Traditionally, this is cast as an image window classification problem, where each window is considered independently and scored based on its appearance alone. Instead,…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between…

Nearest neighbor is a popular nonparametric method for classification and regression with many appealing properties. In the big data era, the sheer volume and spatial/temporal disparity of big data may prohibit centrally processing and…

Visual Place Recognition (VPR) is a scene-oriented image retrieval problem in computer vision in which re-ranking based on local features is commonly employed to improve performance. In robotics, VPR is also referred to as Loop Closure…

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…

Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…

Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Visual object localization is the key step in a series of object detection tasks. In the literature, high localization accuracy is achieved with the mainstream strongly supervised frameworks. However, such methods require object-level…

We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of…