相关论文: On Localizing a Camera from a Single Image

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

Pose estimation is a fundamental building block for robotic applications such as autonomous vehicles, UAV, and large scale augmented reality. It is also a prohibitive factor for those applications to be in mass production, since the…

In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…

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…

Scene context is a powerful constraint on the geometry of objects within the scene in cases, such as surveillance, where the camera geometry is unknown and image quality may be poor. In this paper, we describe a method for estimating the…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

The objective of this work is to estimate 3D human pose from a single RGB image. Extracting image representations which incorporate both spatial relation of body parts and their relative depth plays an essential role in accurate3D pose…

Monocular estimation of 3d human pose has attracted increased attention with the availability of large ground-truth motion capture datasets. However, the diversity of training data available is limited and it is not clear to what extent…

Unobtrusive monitoring of distances between people indoors is a useful tool in the fight against pandemics. A natural resource to accomplish this are surveillance cameras. Unlike previous distance estimation methods, we use a single,…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

We propose a system that uses video as the input to track the position of objects relative to their surrounding environment in real-time. The neural network employed is trained on a 100% synthetic dataset coming from our own automated…

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…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…