相关论文: Aligning Across Large Gaps in Time

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that…

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

Diffeomorphic image registration is a commonly used method to deform one image to resemble another. While warping a single image to another is useful, it can be advantageous to warp multiple images simultaneously, such as in tracking the…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…

In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the…

With the explosive growth of web-based cameras and mobile devices, billions of photographs are uploaded to the internet. We can trivially collect a huge number of photo streams for various goals, such as image clustering, 3D scene…

We propose a novel method for large-scale image stitching that is robust against repetitive patterns and featureless regions in the imagery. In such cases, state-of-the-art image stitching methods easily produce image alignment artifacts,…

The appearance of the world varies dramatically not only from place to place but also from hour to hour and month to month. Every day billions of images capture this complex relationship, many of which are associated with precise time and…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

We propose a new variational model for joint image reconstruction and motion estimation in spatiotemporal imaging, which is investigated along a general framework that we present with shape theory. This model consists of two components, one…

In this paper, we propose an encoder-decoder convolutional neural network (CNN) architecture for estimating camera pose (orientation and location) from a single RGB-image. The architecture has a hourglass shape consisting of a chain of…

Recovering the past from present observations is an intriguing challenge with potential applications in forensics and scene analysis. Thermal imaging, operating in the infrared range, provides access to otherwise invisible information.…

The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…

Automation of objects labeling in aerial imagery is a computer vision task with numerous practical applications. Fields like energy exploration require an automated method to process a continuous stream of imagery on a daily basis. In this…

In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…

This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave radar - a commercially promising sensor poised for exploitation in mobile autonomy. We…

Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…