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

We propose a novel method to estimate a driver's points-of-gaze using a pair of ordinary cameras mounted on the windshield and dashboard of a car. This is a challenging problem due to the dynamics of traffic environments with 3D scenes of…

Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…

With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

This paper provides a comprehensive survey on pioneer and state-of-the-art 3D scene geometry estimation methodologies based on single, two, or multiple images captured under the omnidirectional optics. We first revisit the basic concepts of…

We present a generalized and scalable method, called Gen-LaneNet, to detect 3D lanes from a single image. The method, inspired by the latest state-of-the-art 3D-LaneNet, is a unified framework solving image encoding, spatial transform of…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…

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…

Modern computer vision has moved beyond the domain of internet photo collections and into the physical world, guiding camera-equipped robots and autonomous cars through unstructured environments. To enable these embodied agents to interact…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Recovering the 3D structure of the scene from images yields useful information for tasks such as shape and scene recognition, object detection, or motion planning and object grasping in robotics. In this thesis, we introduce a general…

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…