相关论文: Multi-View Optimization of Local Feature Geometry

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…

Good local features improve the robustness of many 3D re-localization and multi-view reconstruction pipelines. The problem is that viewing angle and distance severely impact the recognizability of a local feature. Attempts to improve…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

This work focuses on mitigating two limitations in the joint learning of local feature detectors and descriptors. First, the ability to estimate the local shape (scale, orientation, etc.) of feature points is often neglected during dense…

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…

We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Keypoint detection and description is fundamental yet important in many vision applications. Most existing methods use detect-then-describe or detect-and-describe strategy to learn local features without considering their context…

The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…

Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

The field of multiple view geometry has seen tremendous progress in reconstruction and calibration due to methods for extracting reliable point features and key developments in projective geometry. Point features, however, are not available…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…

Local feature matching is essential for many applications, such as localization and 3D reconstruction. However, it is challenging to match feature points accurately in various camera viewpoints and illumination conditions. In this paper, we…

Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynamic scenes, and low-texture areas. These challenges degrade…