相关论文: Graph Attention Network for Camera Relocalization …

In this paper, we propose a novel graph convolutional network architecture, Graph Stacked Hourglass Networks, for 2D-to-3D human pose estimation tasks. The proposed architecture consists of repeated encoder-decoder, in which…

Camera localization is a classical computer vision task that serves various Artificial Intelligence and Robotics applications. With the rapid developments of Deep Neural Networks (DNNs), end-to-end visual localization methods are prosperous…

Semantic localization, i.e., robot self-localization with semantic image modality, is critical in recently emerging embodied AI applications (e.g., point-goal navigation, object-goal navigation, vision language navigation) and topological…

This paper studies the task of estimating the 3D human poses of multiple persons from multiple calibrated camera views. Following the top-down paradigm, we decompose the task into two stages, i.e. person localization and 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…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of the selected feature…

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…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

In this paper, we propose an effective global relation learning algorithm to recommend an appropriate location of a building unit for in-game customization of residential home complex. Given a construction layout, we propose a visual…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

The ability to perceive and understand 3D scenes is crucial for many applications in computer vision and robotics. Inverse graphics is an appealing approach to 3D scene understanding that aims to infer the 3D scene structure from 2D images.…

Human gesture recognition has drawn much attention in the area of computer vision. However, the performance of gesture recognition is always influenced by some gesture-irrelevant factors like the background and the clothes of performers.…

Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…