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

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…

Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

3D human pose estimation in multi-view operating room (OR) videos is a relevant asset for person tracking and action recognition. However, the surgical environment makes it challenging to find poses due to sterile clothing, frequent…

Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…

Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline…

Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…