相关论文: DPC-Net: Deep Pose Correction for Visual Localizat…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

Distortion is widely existed in the images captured by popular wide-angle cameras and fisheye cameras. Despite the long history of distortion rectification, accurately estimating the distortion parameters from a single distorted image is…

We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…

Iterative methods such as iterative closest point (ICP) for point cloud registration often suffer from bad local optimality (e.g. saddle points), due to the nature of nonconvex optimization. To address this fundamental challenge, in this…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

In this paper, we present a comprehensive study on the utility of deep convolutional neural networks with two state-of-the-art pooling layers which are placed after convolutional layers and fine-tuned in an end-to-end manner for visual…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

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…

Object detection systems based on the deep convolutional neural network (CNN) have recently made ground- breaking advances on several object detection benchmarks. While the features learned by these high-capacity neural networks are…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Pose estimation, i.e. predicting a 3D rigid transformation with respect to a fixed co-ordinate frame in, SE(3), is an omnipresent problem in medical image analysis with applications such as: image rigid registration, anatomical standard…

Computational stereo has reached a high level of accuracy, but degrades in the presence of occlusions, repeated textures, and correspondence errors along edges. We present a novel approach based on neural networks for depth estimation that…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

This work investigates the impact of the loss function on the performance of Neural Networks, in the context of a monocular, RGB-only, image localization task. A common technique used when regressing a camera's pose from an image is to…

We propose a novel locally adaptive learning estimator for enhancing the inter- and intra- discriminative capabilities of Deep Neural Networks, which can be used as improved loss layer for semantic image segmentation tasks. Most loss layers…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

Recently, deep learning approaches have achieved promising results in various fields of computer vision. In this paper, we tackle the problem of head pose estimation through a Convolutional Neural Network (CNN). Differently from other…