相关论文: CyberLoc: Towards Accurate Long-term Visual Locali…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

Temporal localization in untrimmed videos, which aims to identify specific timestamps, is crucial for video understanding but remains challenging. This task encompasses several subtasks, including temporal action localization, temporal…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…

Metric Cross-View Geo-Localization (MCVGL) aims to estimate the 3-DoF camera pose (position and heading) by matching ground and satellite images. In this work, instead of pinhole and satellite images, we study robust MCVGL using holistic…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

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…

Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently, the emergence of end-to-end localization approaches has…

Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…

We present GSplatLoc, a camera localization method that leverages the differentiable rendering capabilities of 3D Gaussian splatting for ultra-precise pose estimation. By formulating pose estimation as a gradient-based optimization problem…

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is…