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

Efficient visual localization is crucial to many applications, such as large-scale deployment of autonomous agents and augmented reality. Traditional visual localization, while achieving remarkable accuracy, relies on extensive 3D models of…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

This paper presents a visual geo-localization system capable of determining the geographic locations of places (buildings and road intersections) from images without relying on GPS data. Our approach integrates three primary methods:…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches…

Reconstructing photo-realistic large-scale scenes from images, for example at city scale, is a long-standing problem in computer graphics. Neural rendering is an emerging technique that enables photo-realistic image synthesis from…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Visual Geo-localization (VG) is the task of estimating the position where a given photo was taken by comparing it with a large database of images of known locations. To investigate how existing techniques would perform on a real-world…

Cross-scene model adaption is crucial for camera relocalization in real scenarios. It is often preferable that a pre-learned model can be fast adapted to a novel scene with as few training samples as possible. The existing state-of-the-art…

Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and inconsistent viewpoints. We propose a novel label-free,…

Humans can build a mental map of a geographical area to find their way and recognize places. The basic task we consider is geo-localization - finding the pose (position & orientation) of a camera in a large 3D scene from a single image. We…

Reference-guided image inpainting restores image pixels by leveraging the content from another single reference image. The primary challenge is how to precisely place the pixels from the reference image into the hole region. Therefore,…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…

Human re-rendering from a single image is a starkly under-constrained problem, and state-of-the-art algorithms often exhibit undesired artefacts, such as over-smoothing, unrealistic distortions of the body parts and garments, or implausible…

Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement…