相关论文: Pose Refinement with Joint Optimization of Visual …

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

Human pose estimation, with its broad applications in action recognition and motion capture, has experienced significant advancements. However, current Transformer-based methods for video pose estimation often face challenges in managing…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

Direct image-to-image alignment that relies on the optimization of photometric error metrics suffers from limited convergence range and sensitivity to lighting conditions. Deep learning approaches has been applied to address this problem by…

Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…

Learning neural implicit surfaces from volume rendering has become popular for multi-view reconstruction. Neural surface reconstruction approaches can recover complex 3D geometry that are difficult for classical Multi-view Stereo (MVS)…

In this work, we propose a method that combines unsupervised deep learning predictions for optical flow and monocular disparity with a model based optimization procedure for instantaneous camera pose. Given the flow and disparity…

Estimating 3D poses and shapes in the form of meshes from monocular RGB images is challenging. Obviously, it is more difficult than estimating 3D poses only in the form of skeletons or heatmaps. When interacting persons are involved, the 3D…

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…

3D human pose and shape recovery from a monocular RGB image is a challenging task. Existing learning based methods highly depend on weak supervision signals, e.g. 2D and 3D joint location, due to the lack of in-the-wild paired 3D…

Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…

Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…

Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

In this paper, we propose efficient and effective methods for 2D human pose estimation. A new ResBlock is proposed based on depthwise separable convolution and is utilized instead of the original one in Hourglass network. It can be further…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However, the predominant APR architectures only rely on 2D operations during inference, resulting in limited accuracy of pose…