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

Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB image in a given 3D…

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…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

In this work, we address the problem of refining the geometry of local image features from multiple views without known scene or camera geometry. Current approaches to local feature detection are inherently limited in their keypoint…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

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.…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

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…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

In this paper, we propose to go beyond the well-established approach to vision-based localization that relies on visual descriptor matching between a query image and a 3D point cloud. While matching keypoints via visual descriptors makes…