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

Current best local descriptors are learned on a large dataset of matching and non-matching keypoint pairs. However, data of this kind is not always available since detailed keypoint correspondences can be hard to establish. On the other…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…

One of the fundamental problems in computer vision is the two-frame relative pose optimization problem. Primarily, two different kinds of error values are used: photometric error and re-projection error. The selection of error value is…

In this paper, we present a new framework for reducing the computational complexity of geometric vision problems through targeted reweighting of the cost functions used to minimize reprojection errors. Triangulation - the task of estimating…

Cross-scene model adaption is crucial for camera relocalization in real scenarios. It is often preferable that a pre-learned model can be fast adapted to a novel scene with as few training samples as possible. The existing state-of-the-art…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

The technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…

In some scenarios, a single input image may not be enough to allow the object classification. In those cases, it is crucial to explore the complementary information extracted from images presenting the same object from multiple perspectives…

We address the problem of generalizability for multi-view 3D human pose estimation. The standard approach is to first detect 2D keypoints in images and then apply triangulation from multiple views. Even though the existing methods achieve…

Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization, i.e.,…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Simultaneous reconstruction of geometry and reflectance properties in uncontrolled environments remains a challenging problem. In this paper, we propose an efficient method to reconstruct the scene's 3D geometry and reflectance from…

Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…

In contrast to comparing faces via single exemplars, matching sets of face images increases robustness and discrimination performance. Recent image set matching approaches typically measure similarities between subspaces or manifolds, while…

In the past decades, feature-learning-based 3D shape retrieval approaches have been received widespread attention in the computer graphic community. These approaches usually explored the hand-crafted distance metric or conventional distance…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

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…