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

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

Absolute camera pose regressors estimate the position and orientation of a camera given the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron (MLP) head is trained using images and pose labels to embed…

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…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…

A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…

In current practice, scene survey is carried out by workers using total stations. The method has high accuracy, but it incurs high costs if continuous monitoring is needed. Techniques based on photogrammetry, with the relatively cheaper…

Image segmentation is a fundamental and challenging problem in computer vision with applications spanning multiple areas, such as medical imaging, remote sensing, and autonomous vehicles. Recently, convolutional neural networks (CNNs) have…

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…

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.,…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…

The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

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…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…