相关论文: Fusing the Old with the New: Learning Relative Cam…

We introduce UprightNet, a learning-based approach for estimating 2DoF camera orientation from a single RGB image of an indoor scene. Unlike recent methods that leverage deep learning to perform black-box regression from image to…

The last decade has witnessed an experimental revolution in data science and machine learning, epitomised by deep learning methods. Indeed, many high-dimensional learning tasks previously thought to be beyond reach -- such as computer…

Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…

Humans can build a mental map of a geographical area to find their way and recognize places. The basic task we consider is geo-localization - finding the pose (position & orientation) of a camera in a large 3D scene from a single image. We…

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…

The loss functions of deep neural networks are complex and their geometric properties are not well understood. We show that the optima of these complex loss functions are in fact connected by simple curves over which training and test…

The success of deep active learning hinges on the choice of an effective acquisition function, which ranks not yet labeled data points according to their expected informativeness. Many acquisition functions are (partly) based on the…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Geometry-aware optimization algorithms, such as Muon, have achieved remarkable success in training deep neural networks (DNNs). These methods leverage the underlying geometry of DNNs by selecting appropriate norms for different layers and…

The ability to perceive and understand 3D scenes is crucial for many applications in computer vision and robotics. Inverse graphics is an appealing approach to 3D scene understanding that aims to infer the 3D scene structure from 2D images.…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

The drone navigation requires the comprehensive understanding of both visual and geometric information in the 3D world. In this paper, we present a Visual-Geometric Fusion Network(VGF-Net), a deep network for the fusion analysis of…

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…

Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Neural networks can accurately forecast complex dynamical systems, yet how they internally represent underlying latent geometry remains poorly understood. We study neural forecasters through the lens of representational alignment,…

Human pose estimation (i.e., locating the body parts / joints of a person) is a fundamental problem in human-computer interaction and multimedia applications. Significant progress has been made based on the development of depth sensors,…

While there has been a success in 2D human pose estimation with convolutional neural networks (CNNs), 3D human pose estimation has not been thoroughly studied. In this paper, we tackle the 3D human pose estimation task with end-to-end…