相关论文: Homography-Based Loss Function for Camera Pose Reg…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…

Estimating homography from an image pair is a fundamental problem in image alignment. Unsupervised learning methods have received increasing attention in this field due to their promising performance and label-free training. However,…

Neural surface reconstruction is sensitive to the camera pose noise, even if state-of-the-art pose estimators like COLMAP or ARKit are used. More importantly, existing Pose-NeRF joint optimisation methods have struggled to improve pose…

Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…

We propose a novel loss function that dynamically rescales the cross entropy based on prediction difficulty regarding a sample. Deep neural network architectures in image classification tasks struggle to disambiguate visually similar…

We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods that completely replace a classical visual estimator with a…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

The image retrieval (IR) approach to image localization has distinct advantages to the 3D and the deep learning (DNN) approaches: it is seen-agnostic, simpler to implement and use, has no privacy issues, and is computationally efficient.…

Sharp features such as edges and corners play an important role in the perception of 3D models. In order to capture them better, we propose quadric loss, a point-surface loss function, which minimizes the quadric error between the…

Simultaneous segmentation of multiple organs from different medical imaging modalities is a crucial task as it can be utilized for computer-aided diagnosis, computer-assisted surgery, and therapy planning. Thanks to the recent advances in…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Homography estimation is erroneous in the case of large-baseline due to the low image overlay and limited receptive field. To address it, we propose a progressive estimation strategy by converting large-baseline homography into multiple…

Visual localization is one of the most important components for robotics and autonomous driving. Recently, inspiring results have been shown with CNN-based methods which provide a direct formulation to end-to-end regress 6-DoF absolute…

Homography estimation is an important step in many computer vision problems. Recently, deep neural network methods have shown to be favorable for this problem when compared to traditional methods. However, these new methods do not consider…

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…

3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can…

An image captured with a wide-aperture camera exhibits a finite depth-of-field, with focused and defocused pixels. A compact and robust representation of focus and defocus helps analyze and manipulate such images. In this work, we study the…

We propose an heterogeneous multi-task learning framework for human pose estimation from monocular image with deep convolutional neural network. In particular, we simultaneously learn a pose-joint regressor and a sliding-window body-part…