相关论文: Robust Image Retrieval-based Visual Localization u…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

The use of relative attribute (e.g., beautiful, safe, convenient) -based image embeddings in visual place recognition, as a domain-adaptive compact image descriptor that is orthogonal to the typical approach of absolute attribute (e.g.,…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

In this paper we propose a novel method for image matching based on dense local features and tailored for visual geolocalization. Dense local features matching is robust against changes in illumination and occlusions, but not against…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

With the widespread use of powerful image editing tools, image tampering becomes easy and realistic. Existing image forensic methods still face challenges of low generalization performance and robustness. In this letter, we propose an…

In the context of optimization, visualization techniques can be useful for understanding the behaviour of optimization algorithms and can even provide a means to facilitate human interaction with an optimizer. Towards this goal, an…

Visual localization is the task of estimating the camera pose from which a given image was taken and is central to several 3D computer vision applications. With the rapid growth in the popularity of AR/VR/MR devices and cloud-based…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…

Visual place recognition (VPR) remains challenging due to significant viewpoint changes and appearance variations. Mainstream works tackle these challenges by developing various feature aggregation methods to transform deep features into…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

Multi-modal retrieval has seen tremendous progress with the development of vision-language models. However, further improving these models require additional labelled data which is a huge manual effort. In this paper, we propose a framework…

The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…

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.,…