相关论文: Learning Less is More - 6D Camera Localization via…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

This paper provides an insight into the possibility of scene recognition from a video sequence with a small set of repeated shooting locations (such as in television series) using artificial neural networks. The basic idea of the presented…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure and loop closure detection. Recent random forests based methods exploit randomly sampled pixel…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…