相关论文: Learning Two-View Correspondences and Geometry Usi…

We introduce UprightNet, a learning-based approach for estimating 2DoF camera orientation from a single RGB image of an indoor scene. Unlike recent methods that leverage deep learning to perform black-box regression from image to…

A fundamental operation in many vision tasks, including motion understanding, stereopsis, visual odometry, or invariant recognition, is establishing correspondences between images or between images and data from other modalities. We present…

We seek a practical method for establishing dense correspondences between two images with similar content, but possibly different 3D scenes. One of the challenges in designing such a system is the local scale differences of objects…

Sentence Ordering refers to the task of rearranging a set of sentences into the appropriate coherent order. For this task, most previous approaches have explored global context-based end-to-end methods using Sequence Generation techniques.…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…

In this paper we aim to determine the location and orientation of a ground-level query image by matching to a reference database of overhead (e.g. satellite) images. For this task we collect a new dataset with one million pairs of street…

Processing spatial data is a key component in many learning tasks for autonomous driving such as motion forecasting, multi-agent simulation, and planning. Prior works have demonstrated the value in using SE(2) invariant network…

Modern machine learning models typically represent inputs as fixed points in a high-dimensional embedding space. While this approach has been proven powerful for a wide range of downstream tasks, it fundamentally differs from the way humans…

In this paper, we address the problem of global-scale image geolocation, proposing a mixed classification-retrieval scheme. Unlike other methods that strictly tackle the problem as a classification or retrieval task, we combine the two…

We present recurrent geometry-aware neural networks that integrate visual information across multiple views of a scene into 3D latent feature tensors, while maintaining an one-to-one mapping between 3D physical locations in the world scene…

Finding good correspondences is a critical prerequisite in many feature based tasks. Given a putative correspondence set of an image pair, we propose a neural network which finds correct correspondences by a binary-class classifier and…

Convolutional Neural Networks (CNN) have been pivotal to the success of many state-of-the-art classification problems, in a wide variety of domains (for e.g. vision, speech, graphs and medical imaging). A commonality within those domains is…

An end-to-end trainable ConvNet architecture, that learns to harness the power of shape representation for matching disparate image pairs, is proposed. Disparate image pairs are deemed those that exhibit strong affine variations in scale,…

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific…

Scene graphs are a powerful structured representation of the underlying content of images, and embeddings derived from them have been shown to be useful in multiple downstream tasks. In this work, we employ a graph convolutional network to…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Establishing robust and accurate correspondences between a pair of images is a long-standing computer vision problem with numerous applications. While classically dominated by sparse methods, emerging dense approaches offer a compelling…

Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…

Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships,…

We explore the power of spatial context as a self-supervisory signal for learning visual representations. In particular, we propose spatial context networks that learn to predict a representation of one image patch from another image patch,…