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

In surveillance, monitoring and tactical reconnaissance, gathering the right visual information from a dynamic environment and accurately processing such data are essential ingredients to making informed decisions which determines the…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

Vision based solutions for the localization of vehicles have become popular recently. We employ an image retrieval based visual localization approach. The database images are kept with GPS coordinates and the location of the retrieved…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

This work addresses the problem of semi-supervised image classification tasks with the integration of several effective self-supervised pretext tasks. Different from widely-used consistency regularization within semi-supervised learning, we…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

The colorization of grayscale images is a complex and subjective task with significant challenges. Despite recent progress in employing large-scale datasets with deep neural networks, difficulties with controllability and visual quality…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Instance segmentation is one of the actively studied research topics in computer vision in which many objects of interest should be separated individually. While many feed-forward networks produce high-quality segmentation on different…

We present two techniques to improve landmark localization in images from partially annotated datasets. Our primary goal is to leverage the common situation where precise landmark locations are only provided for a small data subset, but…

Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D models. Most advanced…

Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…