相关论文: Deep auxiliary learning for visual localization us…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Recent self-supervised models have demonstrated equal or better performance than supervised methods, opening for AI systems to learn visual representations from practically unlimited data. However, these methods are typically…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

This paper provides a simple solution for reliably solving image classification tasks tied to spatial locations of salient objects in the scene. Unlike conventional image classification approaches that are designed to be invariant to…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Camera pose estimation in known scenes is a 3D geometry task recently tackled by multiple learning algorithms. Many regress precise geometric quantities, like poses or 3D points, from an input image. This either fails to generalize to new…

Image colorization aims to add color information to a grayscale image in a realistic way. Recent methods mostly rely on deep learning strategies. While learning to automatically colorize an image, one can define well-suited objective…

We present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1. automatic immense photo synthesis and labeling from point cloud model and, 2. pose estimation with deep…

Automatic colorization of gray images with objects of different colors and sizes is challenging due to inter- and intra-object color variation and the small area of the main objects due to extensive backgrounds. The learning process often…

Fine localization is a crucial task for autonomous vehicles. Although many algorithms have been explored in the literature for this specific task, the goal of getting accurate results from commodity sensors remains a challenge. As…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

Performing data augmentation for learning deep neural networks is known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute…

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…

Self-supervision can dramatically cut back the amount of manually-labelled data required to train deep neural networks. While self-supervision has usually been considered for tasks such as image classification, in this paper we aim at…

Learning semantic segmentation models under image-level supervision is far more challenging than under fully supervised setting. Without knowing the exact pixel-label correspondence, most weakly-supervised methods rely on external models to…

Handling various objects with different colors is a significant challenge for image colorization techniques. Thus, for complex real-world scenes, the existing image colorization algorithms often fail to maintain color consistency. In this…

Event-based cameras provide accurate and high temporal resolution measurements for performing computer vision tasks in challenging scenarios, such as high-dynamic range environments and fast-motion maneuvers. Despite their advantages,…