相关论文: Location Field Descriptors: Single Image 3D Model …

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

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…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

Predicting 3D shapes and poses of static objects from a single RGB image is an important research area in modern computer vision. Its applications range from augmented reality to robotics and digital content creation. Typically this task is…

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence…

We propose a unified formulation for the problem of 3D human pose estimation from a single raw RGB image that reasons jointly about 2D joint estimation and 3D pose reconstruction to improve both tasks. We take an integrated approach that…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…

In this paper, we study the task of 3D human pose estimation in the wild. This task is challenging due to lack of training data, as existing datasets are either in the wild images with 2D pose or in the lab images with 3D pose. We propose a…

While 2D pose estimation has advanced our ability to interpret body movements in animals and primates, it is limited by the lack of depth information, constraining its application range. 3D pose estimation provides a more comprehensive…

We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model…

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

We demonstrate the utility of recurring pattern discovery from a single image for spatial understanding of a 3D scene in terms of (1) vanishing point detection, (2) hypothesizing 3D translation symmetry and (3) counting the number of RP…

Learning to reconstruct 3D shapes using 2D images is an active research topic, with benefits of not requiring expensive 3D data. However, most work in this direction requires multi-view images for each object instance as training…

We present an approach for reconstructing vehicles from a single (RGB) image, in the context of autonomous driving. Though the problem appears to be ill-posed, we demonstrate that prior knowledge about how 3D shapes of vehicles project to…

Recent learning methods for object pose estimation require resource-intensive training for each individual object instance or category, hampering their scalability in real applications when confronted with previously unseen objects. In this…

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…