相关论文: Probabilistic Visual Place Recognition for Hierarc…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…
In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…
Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…
This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
In recent years there has been significant improvement in the capability of Visual Place Recognition (VPR) methods, building on the success of both hand-crafted and learnt visual features, temporal filtering and usage of semantic scene…
Robust long-term visual localization in complex industrial environments is critical for mobile robotic systems. Existing approaches face limitations: handcrafted features are illumination-sensitive, learned features are computationally…
Visual place recognition is a fundamental capability for the localization of mobile robots. It places image retrieval in the practical context of physical agents operating in a physical world. It is an active field of research and many…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…
We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement…
Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…
Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…
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…
Visual place recognition (VPR) capabilities enable autonomous robots to navigate complex environments by discovering the environment's topology based on visual input. Most research efforts focus on enhancing the accuracy and robustness of…