相关论文: Benchmarking Image Retrieval for Visual Localizati…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

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…

Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by…

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

Image classification is the task of assigning to an input image a label from a fixed set of categories. One of its most important applicative fields is that of robotics, in particular the needing of a robot to be aware of what's around and…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods that re-order the…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

This paper addresses the problem of semantic-based image retrieval of natural scenes. A typical content-based image retrieval system deals with the query image and images in the dataset as a collection of low-level features and retrieves a…

This work introduces a simulator-based benchmark for visual localization in the autonomous navigation context. The dynamic benchmark enables investigation of how variables such as the time of day, weather, and camera perspective affect the…

Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Recently, it was shown that excellent results can be achieved in both face landmark localization and pose-invariant face recognition. These breakthroughs are attributed to the efforts of the community to manually annotate facial images in…

Many methods have been developed to help people find the video contents they want efficiently. However, there are still some unsolved problems in this area. For example, given a query video and a reference video, how to accurately localize…

With the advances in both stable interest region detectors and robust and distinctive descriptors, local feature-based image or object retrieval has become a popular research topic. %All of the local feature-based image retrieval system…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Advances in image restoration and enhancement techniques have led to discussion about how such algorithmscan be applied as a pre-processing step to improve automatic visual recognition. In principle, techniques like deblurring and…