相关论文: On-device Scalable Image-based Localization via Pr…
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Landuse characterization is important for urban planning. It is traditionally performed with field surveys or manual photo interpretation, two practices that are time-consuming and labor-intensive. Therefore, we aim to automate landuse…
Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…
This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…
Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…
In this paper we present the first published end-to-end production computer-vision system for powering city-scale shared augmented reality experiences on mobile devices. In doing so we propose a new formulation for an experience-based…
Current and future wireless applications strongly rely on precise real-time localization. A number of applications such as smart cities, Internet of Things (IoT), medical services, automotive industry, underwater exploration, public safety,…
We describe a completely automated large scale visual recommendation system for fashion. Our focus is to efficiently harness the availability of large quantities of online fashion images and their rich meta-data. Specifically, we propose…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
This letter presents LiteLoc, a novel and efficient localizer built on 3D Gaussian Splatting (3DGS). The previous state-of-the-art (SoTA) sparse-to-dense localizer, STDLoc, has shown remarkable localization capability but suffers from…
Localization defines a term to describe the identifying process of a location within the space of two-dimensional (2D) space or three-dimensional (3D). A localization scheme is an important concern for connecting sensor nodes in remote…
We seek a practical method for establishing dense correspondences between two images with similar content, but possibly different 3D scenes. One of the challenges in designing such a system is the local scale differences of objects…
Worldwide image geolocalization-the task of predicting GPS coordinates from images taken anywhere on Earth-poses a fundamental challenge due to the vast diversity in visual content across regions. While recent approaches adopt a two-stage…
Street-level geolocalization from images is crucial for a wide range of essential applications and services, such as navigation, location-based recommendations, and urban planning. With the growing popularity of social media data and…
Locating mobile devices precisely in indoor scenarios is a challenging task because of the signal diffraction and reflection in complicated environments. One vital cause deteriorating the localization performance is the inevitable power…
Most approaches to large-scale image retrieval are based on the construction of the inverted index of local image descriptors or visual words. A search in such an index usually results in a large number of candidates. This list of…
Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…
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…
Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel…