相关论文: Insights on Evaluation of Camera Re-localization U…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

Many applications require a camera to be relocalised online, without expensive offline training on the target scene. Whilst both keyframe and sparse keypoint matching methods can be used online, the former often fail away from the training…

This work investigates the impact of the loss function on the performance of Neural Networks, in the context of a monocular, RGB-only, image localization task. A common technique used when regressing a camera's pose from an image is to…

In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning. Most existing methods assume that a consistent scale of depth and pose can be learned across all input samples, which makes…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

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…

We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

Given two images, we can estimate the relative camera pose between them by establishing image-to-image correspondences. Usually, correspondences are 2D-to-2D and the pose we estimate is defined only up to scale. Some applications, aiming at…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

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…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Cascaded regression has been recently applied to reconstructing 3D faces from single 2D images directly in shape space, and achieved state-of-the-art performance. This paper investigates thoroughly such cascaded regression based 3D face…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…