相关论文: Learning Multi-Scene Absolute Pose Regression with…

Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most…

We propose an end-to-end trainable approach for multi-instance pose estimation, called POET (POse Estimation Transformer). Combining a convolutional neural network with a transformer encoder-decoder architecture, we formulate multiinstance…

Transformers are increasingly prevalent for multi-view computer vision tasks, where geometric relationships between viewpoints are critical for 3D perception. To leverage these relationships, multi-view transformers must use camera geometry…

With the recent successful adaptation of transformers to the vision domain, particularly when trained in a self-supervised fashion, it has been shown that vision transformers can learn impressive object-reasoning-like behaviour and features…

In this paper, HeadPosr is proposed to predict the head poses using a single RGB image. \textit{HeadPosr} uses a novel architecture which includes a transformer encoder. In concrete, it consists of: (1) backbone; (2) connector; (3)…

Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…

The remarkable capability of Transformers to do reasoning and few-shot learning, without any fine-tuning, is widely conjectured to stem from their ability to implicitly simulate a multi-step algorithms -- such as gradient descent -- with…

How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…

We tackle the problem of automatically reconstructing a complete 3D model of a scene from a single RGB image. This challenging task requires inferring the shape of both visible and occluded surfaces. Our approach utilizes viewer-centered,…

We introduce an improved solution to the neural image-based rendering problem in computer vision. Given a set of images taken from a freely moving camera at train time, the proposed approach could synthesize a realistic image of the scene…

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…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…

In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

Pose refinement is an interesting and practically relevant research direction. Pose refinement can be used to (1) obtain a more accurate pose estimate from an initial prior (e.g., from retrieval), (2) as pre-processing, i.e., to provide a…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…

How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

Autoencoders are commonly trained using element-wise loss. However, element-wise loss disregards high-level structures in the image which can lead to embeddings that disregard them as well. A recent improvement to autoencoders that helps…

Accurate camera localization is crucial for modern retail environments, enabling enhanced customer experiences, streamlined inventory management, and autonomous operations. While Absolute Pose Regression (APR) from a single image offers a…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…