相关论文: Privacy Preserving Image-Based Localization

In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

3D point cloud has been widely used in applications such as self-driving cars, robotics, CAD models, etc. To the best of our knowledge, these applications raised the issue of privacy leakage in 3D point clouds, which has not been studied…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

Visual localization (VL) is the task of estimating the camera pose in a known scene. VL methods, a.o., can be distinguished based on how they represent the scene, e.g., explicitly through a (sparse) point cloud or a collection of images or…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…

Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

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.…

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…

Image registration is a key task in medical imaging applications, allowing to represent medical images in a common spatial reference frame. Current approaches to image registration are generally based on the assumption that the content of…

In this work, we consider the problem of estimating the 3D position of multiple humans in a scene as well as their body shape and articulation from a single RGB video recorded with a static camera. In contrast to expensive marker-based or…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…