相关论文: Improving Nighttime Retrieval-Based Localization

Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…

Visual place recognition is challenging because there are so many factors that can cause the appearance of a place to change, from day-night cycles to seasonal change to atmospheric conditions. In recent years a large range of approaches…

Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…

The image retrieval (IR) approach to image localization has distinct advantages to the 3D and the deep learning (DNN) approaches: it is seen-agnostic, simpler to implement and use, has no privacy issues, and is computationally efficient.…

We introduce Object-Guided Localization (OGuL) based on a novel method of local-feature matching. Direct matching of local features is sensitive to significant changes in illumination. In contrast, object detection often survives severe…

Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…

Visual Localization is one of the key enabling technologies for autonomous driving and augmented reality. High quality datasets with accurate 6 Degree-of-Freedom (DoF) reference poses are the foundation for benchmarking and improving…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Visual place recognition is particularly challenging when places suffer changes in its appearance. Such changes are indeed common, e.g., due to weather, night/day or seasons. In this paper we leverage on recent research using deep networks,…

Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…

Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have shown promise for efficient inference, they often struggle with…

The current state of the research in landmark recognition highlights the good accuracy which can be achieved by embedding techniques, such as Fisher vector and VLAD. All these techniques do not exploit spatial information, i.e. consider all…

The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…

We present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of au- tonomous vehicles with the…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Object recognition is a critical part of any surveillance system. It is the matter of utmost concern to identify intruders and foreign objects in the area where surveillance is done. The performance of surveillance system using the…

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…

We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…