相关论文: Deep Auxiliary Learning for Visual Localization an…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…

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…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Contour shape alignment is a fundamental but challenging problem in computer vision, especially when the observations are partial, noisy, and largely misaligned. Recent ConvNet-based architectures that were proposed to align image…

Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…

We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…

Learning robotic grasps from visual observations is a promising yet challenging task. Recent research shows its great potential by preparing and learning from large-scale synthetic datasets. For the popular, 6 degree-of-freedom (6-DOF)…

Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing…

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…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…