相关论文: i3dLoc: Image-to-range Cross-domain Localization R…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D,…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

Scene context is a powerful constraint on the geometry of objects within the scene in cases, such as surveillance, where the camera geometry is unknown and image quality may be poor. In this paper, we describe a method for estimating the…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

Most state-of-the-art methods of object detection suffer from poor generalization ability when the training and test data are from different domains, e.g., with different styles. To address this problem, previous methods mainly use holistic…

The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be…

Image to point cloud global localization is crucial for robot navigation in GNSS-denied environments and has become increasingly important for multi-robot map fusion and urban asset management. The modality gap between images and point…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

We propose an automatic method to infer high dynamic range illumination from a single, limited field-of-view, low dynamic range photograph of an indoor scene. In contrast to previous work that relies on specialized image capture, user…

We propose an accurate and interpretable fine-grained cross-view localization method that estimates the 3 Degrees of Freedom (DoF) pose of a ground-level image by matching its local features with a reference aerial image. Unlike prior…

Feature point matching for camera localization suffers from scalability problems. Even when feature descriptors associated with 3D scene points are locally unique, as coverage grows, similar or repeated features become increasingly common.…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…