相关论文: Expert Sample Consensus Applied to Camera Re-Local…

We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…

We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these…

Feature matching is a crucial task in the field of computer vision, which involves finding correspondences between images. Previous studies achieve remarkable performance using learning-based feature comparison. However, the pervasive…

We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…

We introduce NONSAC (Non-Minimal Sampling and Consensus), a general framework for robust and scalable model estimation from arbitrarily large datasets contaminated with noise and outliers. NONSAC repeatedly samples non-minimal subsets of…

We address the problem of finding reliable dense correspondences between a pair of images. This is a challenging task due to strong appearance differences between the corresponding scene elements and ambiguities generated by repetitive…

Robust estimation of camera motion under the presence of outlier noise is a fundamental problem in robotics and computer vision. Despite existing efforts that focus on detecting motion and scene degeneracies, the best existing approach that…

In this work we target the problem of estimating accurately localised correspondences between a pair of images. We adopt the recent Neighbourhood Consensus Networks that have demonstrated promising performance for difficult correspondence…

Learning-based scene representations such as neural radiance fields or light field networks, that rely on fitting a scene model to image observations, commonly encounter challenges in the presence of inconsistencies within the images caused…

Camera pose estimation for two-view geometry traditionally relies on RANSAC. Normally, a multitude of image correspondences leads to a pool of proposed hypotheses, which are then scored to find a winning model. The inlier count is generally…

RANSAC is an important algorithm in robust optimization and a central building block for many computer vision applications. In recent years, traditionally hand-crafted pipelines have been replaced by deep learning pipelines, which can be…

Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…

It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…

Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent results in small confined areas like offices and apartment…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…