相关论文: Benchmarking Image Retrieval for Visual Localizati…

Visual Place Recognition (VPR) often fails under extreme environmental changes and perceptual aliasing. Furthermore, standard systems cannot perform "blind" localization from verbal descriptions alone, a capability needed for applications…

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…

Feature point matching for camera localization suffers from scalability problems. Even when feature descriptors associated with 3D scene points are locally unique, as coverage grows, similar or repeated features become increasingly common.…

Visual localization is one of the most important components for robotics and autonomous driving. Recently, inspiring results have been shown with CNN-based methods which provide a direct formulation to end-to-end regress 6-DoF absolute…

In this paper we introduce a new camera localization strategy designed for image sequences captured in challenging industrial situations such as industrial parts inspection. To deal with peculiar appearances that hurt standard 3D…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

Landmark detection algorithms trained on high resolution images perform poorly on datasets containing low resolution images. This deters the performance of algorithms relying on quality landmarks, for example, face recognition. To the best…

Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…

What is the current state-of-the-art for image restoration and enhancement applied to degraded images acquired under less than ideal circumstances? Can the application of such algorithms as a pre-processing step to improve image…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

The typical bottom-up human pose estimation framework includes two stages, keypoint detection and grouping. Most existing works focus on developing grouping algorithms, e.g., associative embedding, and pixel-wise keypoint regression that we…

The choice of representation for geographic location significantly impacts the accuracy of models for a broad range of geospatial tasks, including fine-grained species classification, population density estimation, and biome classification.…

The objective of this paper is to design an embedding method that maps local features describing an image (e.g. SIFT) to a higher dimensional representation useful for the image retrieval problem. First, motivated by the relationship…

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…

Accurate face landmark localization is an essential part of face recognition, reconstruction and morphing. To accurately localize face landmarks, we present our heatmap regression approach. Each model consists of a MobileNetV2 backbone…

Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial…

Perceptual image hashing methods are often applied in various objectives, such as image retrieval, finding duplicate or near-duplicate images, and finding similar images from large-scale image content. The main challenge in image hashing…

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.,…