相关论文: 3D Scene Geometry-Aware Constraint for Camera Loca…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

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…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In this paper, we present a novel relative geometry-aware Siamese…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

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…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

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…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

Humans can build a mental map of a geographical area to find their way and recognize places. The basic task we consider is geo-localization - finding the pose (position & orientation) of a camera in a large 3D scene from a single image. We…

Visual localization is one of the most important components for robotics and autonomous driving. Recently, inspiring results have been shown with CNN-based methods which provide a direct formulation to end-to-end regress 6-DoF absolute…

Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…