相关论文: Beyond Controlled Environments: 3D Camera Re-Local…

In this work, we introduce the task of 3D object instance re-localization (RIO): given one or multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in another 3D scan of the same environment taken at a later…

Localizing the camera in a known indoor environment is a key building block for scene mapping, robot navigation, AR, etc. Recent advances estimate the camera pose via optimization over the 2D/3D-3D correspondences established between the…

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…

RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

Benchmark datasets that measure camera pose accuracy have driven progress in visual re-localisation research. To obtain poses for thousands of images, it is common to use a reference algorithm to generate pseudo ground truth. Popular…

Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current…

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…

Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such…

We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…

Existing person re-identification (re-id) works mostly consider short-term application scenarios without clothes change. In real-world, however, we often dress differently across space and time. To solve this contrast, a few recent attempts…

Active camera relocalization (ACR) is a new problem in computer vision that significantly reduces the false alarm caused by image distortions due to camera pose misalignment in fine-grained change detection (FGCD). Despite the fruitful…

Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…