相关论文: Efficient Initial Pose-graph Generation for Global…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based…

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this problem are categorized into incremental and global approaches.…

Most of the recent deep learning-based 3D human pose and mesh estimation methods regress the pose and shape parameters of human mesh models, such as SMPL and MANO, from an input image. The first weakness of these methods is an appearance…

In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized…

Most recent 6D pose estimation frameworks first rely on a deep network to establish correspondences between 3D object keypoints and 2D image locations and then use a variant of a RANSAC-based Perspective-n-Point (PnP) algorithm. This…

While initial approaches to Structure-from-Motion (SfM) revolved around both global and incremental methods, most recent applications rely on incremental systems to estimate camera poses due to their superior robustness. Though there has…

Recently, there has been a growing interest in predicting human motion, which involves forecasting future body poses based on observed pose sequences. This task is complex due to modeling spatial and temporal relationships. The most…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

We present GraphMatch, an approximate yet efficient method for building the matching graph for large-scale structure-from-motion (SfM) pipelines. Unlike modern SfM pipelines that use vocabulary (Voc.) trees to quickly build the matching…

We propose a simple and efficient method for exploiting synthetic images when training a Deep Network to predict a 3D pose from an image. The ability of using synthetic images for training a Deep Network is extremely valuable as it is easy…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D Gaussian Splatting…

Random hypothesis sampling lies at the core of many popular robust fitting techniques such as RANSAC. In this paper, we propose a novel hypothesis sampling scheme based on incremental computation of distances between partial rankings…

In this paper, we propose a novel approach to solve the pose guided person image generation task. We assume that the relation between pose and appearance information can be described by a simple matrix operation in hidden space. Based on…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

Visual Localization is one of the key enabling technologies for autonomous driving and augmented reality. High quality datasets with accurate 6 Degree-of-Freedom (DoF) reference poses are the foundation for benchmarking and improving…

Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer…