相关论文: VS-Net: Voting with Segmentation for Visual Locali…

Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…

We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

Object detection, instance segmentation, and pose estimation are popular visual recognition tasks which require localizing the object by internal or boundary landmarks. This paper summarizes these tasks as location-sensitive visual…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Instance segmentation methods often require costly per-pixel labels. We propose a method that only requires point-level annotations. During training, the model only has access to a single pixel label per object, yet the task is to output…

While there has been significant progress in solving the problems of image pixel labeling, object detection and scene classification, existing approaches normally address them separately. In this paper, we propose to tackle these problems…

Traditional feature encoding scheme (e.g., Fisher vector) with local descriptors (e.g., SIFT) and recent convolutional neural networks (CNNs) are two classes of successful methods for image recognition. In this paper, we propose a hybrid…

Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…

Visual navigation localizes a query place image against a reference database of place images, also known as a `visual map'. Localization accuracy requirements for specific areas of the visual map, `scene classes', vary according to the…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

The deficiency of segmentation labels is one of the main obstacles to semantic segmentation in the wild. To alleviate this issue, we present a novel framework that generates segmentation labels of images given their image-level class…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Semantic segmentation is a fundamental task in visual scene understanding. We focus on the supervised setting, where ground-truth semantic annotations are available. Based on knowledge about the high regularity of real-world scenes, we…

Two approaches are proposed for cross-pose face recognition, one is based on the 3D reconstruction of facial components and the other is based on the deep Convolutional Neural Network (CNN). Unlike most 3D approaches that consider holistic…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…