相关论文: Dense Semantic 3D Map Based Long-Term Visual Local…

Visual semantic correspondence is an important topic in computer vision and could help machine understand objects in our daily life. However, most previous methods directly train on correspondences in 2D images, which is end-to-end but…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

Combining multiple complementary techniques together has long been regarded as a way to improve performance. In visual localization, multi-sensor fusion, multi-process fusion of a single sensing modality, and even combinations of different…

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…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

Many 3D tasks such as pose alignment, animation, motion transfer, and 3D reconstruction rely on establishing correspondences between 3D shapes. This challenge has recently been approached by pairwise matching of semantic features from…

We propose a new algorithm for color transfer between images that have perceptually similar semantic structures. We aim to achieve a more accurate color transfer that leverages semantically-meaningful dense correspondence between images. To…

Object localization is an important computer vision problem with a variety of applications. The lack of large scale object-level annotations and the relative abundance of image-level labels makes a compelling case for weak supervision in…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

The ability of humans to infer head poses from face shapes, and vice versa, indicates a strong correlation between the two. Accordingly, recent studies on face alignment have employed head pose information to predict facial landmarks in…

We tackle the task of semantic alignment where the goal is to compute dense semantic correspondence aligning two images depicting objects of the same category. This is a challenging task due to large intra-class variation, changes in…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Mesh-based scene representation offers a promising direction for simplifying large-scale hierarchical visual localization pipelines, combining a visual place recognition step based on global features (retrieval) and a visual localization…

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…

Deep neural networks trained for classification have been found to learn powerful image representations, which are also often used for other tasks such as comparing images w.r.t. their visual similarity. However, visual similarity does not…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…