相关论文: EnforceNet: Monocular Camera Localization in Large…

We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…

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…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…

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…

In this paper, we explore the possibility of achieving a more accurate depth estimation by fusing monocular images and Radar points using a deep neural network. We give a comprehensive study of the fusion between RGB images and Radar…

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.…

Monocular 3D pose estimators produce camera-centered skeletons, creating view-dependent kinematic signals that complicate comparative analysis in applications such as health and sports science. We present 3DPCNet, a compact,…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

We present DeepPerimeter, a deep learning based pipeline for inferring a full indoor perimeter (i.e. exterior boundary map) from a sequence of posed RGB images. Our method relies on robust deep methods for depth estimation and wall…

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…

Camera-based activity monitoring systems are becoming an attractive solution for smart building applications with the advances in computer vision and edge computing technologies. In this paper, we present a feasibility study and systematic…

In this paper, we address the challenging task of estimating 6D object pose from a single RGB image. Motivated by the deep learning based object detection methods, we propose a concise and efficient network that integrate 6D object pose…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…

We present a deep learning-based multitask framework for joint 3D human pose estimation and action recognition from RGB video sequences. Our approach proceeds along two stages. In the first, we run a real-time 2D pose detector to determine…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

Self-supervised monocular depth estimation has seen significant progress in recent years, especially in outdoor environments. However, depth prediction results are not satisfying in indoor scenes where most of the existing data are captured…