相关论文: Viewpoint Invariant Dense Matching for Visual Geol…

Recent studies show that vision models pre-trained in generic visual learning tasks with large-scale data can provide useful feature representations for a wide range of visual perception problems. However, few attempts have been made to…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Cross-view object geo-localization enables high-precision object localization through cross-view matching, with critical applications in autonomous driving, urban management, and disaster response. However, existing methods rely on…

Detecting robust keypoints from an image is an integral part of many computer vision problems, and the characteristic orientation and scale of keypoints play an important role for keypoint description and matching. Existing learning-based…

The key challenge in learning dense correspondences lies in the lack of ground-truth matches for real image pairs. While photometric consistency losses provide unsupervised alternatives, they struggle with large appearance changes, which…

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…

The feature frame is a key idea of feature matching problem between two images. However, most of the traditional matching methods only simply employ the spatial location information (the coordinates), which ignores the shape and orientation…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

Visual correspondence is a crucial step in key computer vision tasks, including camera localization, image registration, and structure from motion. The most effective techniques for matching keypoints currently involve using learned sparse…

In this work, we introduce a deep-learning framework designed for estimating dense image correspondences. Our fully convolutional model generates dense feature maps for images, where each pixel is associated with a descriptor that can be…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Local covariant feature detection, namely the problem of extracting viewpoint invariant features from images, has so far largely resisted the application of machine learning techniques. In this paper, we propose the first fully general…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Local feature matching is an essential component in many visual applications. In this work, we propose OAMatcher, a Tranformer-based detector-free method that imitates humans behavior to generate dense and accurate matches. Firstly,…

To date, most existing self-supervised learning methods are designed and optimized for image classification. These pre-trained models can be sub-optimal for dense prediction tasks due to the discrepancy between image-level prediction and…

Local image feature matching under large appearance, viewpoint, and distance changes is challenging yet important. Conventional methods detect and match tentative local features across the whole images, with heuristic consistency checks to…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Weakly supervised localization aims at finding target object regions using only image-level supervision. However, localization maps extracted from classification networks are often not accurate due to the lack of fine pixel-level…