相关论文: Visual Camera Re-Localization from RGB and RGB-D I…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner…

Localizing the camera in a known indoor environment is a key building block for scene mapping, robot navigation, AR, etc. Recent advances estimate the camera pose via optimization over the 2D/3D-3D correspondences established between the…

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 pose estimation in known scenes is a 3D geometry task recently tackled by multiple learning algorithms. Many regress precise geometric quantities, like poses or 3D points, from an input image. This either fails to generalize to new…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

We introduce GSVisLoc, a visual localization method designed for 3D Gaussian Splatting (3DGS) scene representations. Given a 3DGS model of a scene and a query image, our goal is to estimate the camera's position and orientation. We…

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…

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…

Curve & Lookup Table (LUT) based methods directly map a pixel to the target output, making them highly efficient tools for real-time photography processing. However, due to extreme memory complexity to learn full RGB space mapping, existing…

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…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most…