相关论文: Map-free Visual Relocalization: Metric Pose Relati…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…

We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However,…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…

Sparse-view reconstruction models typically require precise camera poses, yet obtaining these parameters from sparse-view images remains challenging. We introduce FreeSplatter, a scalable feed-forward framework that generates high-quality…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…

Visual localization is the task of estimating the camera pose of an image relative to a scene representation. In practice, visual localization systems are often cloud-based. Naturally, this raises privacy concerns in terms of revealing…

General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such as AR/VR, autonomous navigation, and robotics, only a single…

This work proposes novel hyperparameter-free losses for single view 3D reconstruction with morphable models (3DMM). We dispense with the hyperparameters used in other works by exploiting geometry, so that the shape of the object and the…

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

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,…

Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…