相关论文: Improved Visual Relocalization by Discovering Anch…

Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

We present an active detection model for localizing objects in scenes. The model is class-specific and allows an agent to focus attention on candidate regions for identifying the correct location of a target object. This agent learns to…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

In this paper we introduce a new camera localization strategy designed for image sequences captured in challenging industrial situations such as industrial parts inspection. To deal with peculiar appearances that hurt standard 3D…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

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…

With the emergence of service robots and surveillance cameras, dynamic face recognition (DFR) in wild has received much attention in recent years. Face detection and head pose estimation are two important steps for DFR. Very often, the pose…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Most deep learning object detectors are based on the anchor mechanism and resort to the Intersection over Union (IoU) between predefined anchor boxes and ground truth boxes to evaluate the matching quality between anchors and objects. In…

We present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1. automatic immense photo synthesis and labeling from point cloud model and, 2. pose estimation with deep…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…

Deep learning has been applied to camera relocalization, in particular, PoseNet and its extended work are the convolutional neural networks which regress the camera pose from a single image. However there are many problems, one of them is…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…