相关论文: Learning Camera Localization via Dense Scene Match…

This paper addresses the challenge of dense pixel correspondence estimation between two images. This problem is closely related to optical flow estimation task where ConvNets (CNNs) have recently achieved significant progress. While optical…

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…

Road scene understanding is a critical component in an autonomous driving system. Although the deep learning-based road scene segmentation can achieve very high accuracy, its complexity is also very high for developing real-time…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

With the rise of deep learning algorithms nowadays, scene image representation methods have achieved a significant performance boost in classification. However, the performance is still limited because the scene images are mostly complex…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Detecting robust keypoints from an image is an integral part of many computer vision problems, and the characteristic orientation and scale of keypoints play an important role for keypoint description and matching. Existing learning-based…

Conventional change detection methods require a large number of images to learn background models or depend on tedious pixel-level labeling by humans. In this paper, we present a weakly supervised approach that needs only image-level labels…

Homography estimation is an important step in many computer vision problems. Recently, deep neural network methods have shown to be favorable for this problem when compared to traditional methods. However, these new methods do not consider…

Heatmap regression has been used for landmark localization for quite a while now. Most of the methods use a very deep stack of bottleneck modules for heatmap classification stage, followed by heatmap regression to extract the keypoints. In…

Designing robust activity detectors for fixed camera surveillance video requires knowledge of the 3-D scene. This paper presents an automatic camera calibration process that provides a mechanism to reason about the spatial proximity between…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

We propose a novel approach to feature point matching, suitable for robust and accurate outdoor visual localization in long-term scenarios. Given a query image, we first match it against a database of registered reference images, using…

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…

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…

In this work we use deep learning to establish dense correspondences between a 3D object model and an image "in the wild". We introduce "DenseReg", a fully-convolutional neural network (F-CNN) that densely regresses at every foreground…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…