相关论文: OrienterNet: Visual Localization in 2D Public Maps…

Detecting and localizing objects in space is a fundamental computer vision problem. While much progress has been made to solve 2D object detection, 3D object localization is much less explored and far from solved, especially for open-world…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…

We explore total scene capture -- recording, modeling, and rerendering a scene under varying appearance such as season and time of day. Starting from internet photos of a tourist landmark, we apply traditional 3D reconstruction to register…

Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this paper we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…

Considerable study has already been conducted regarding autonomous driving in modern era. An autonomous driving system must be extremely good at detecting objects surrounding the car to ensure safety. In this paper, classification, and…

We present a novel approach to geolocalising panoramic images on a 2-D cartographic map based on learning a low dimensional embedded space, which allows a comparison between an image captured at a location and local neighbourhoods of the…

The growing demand for high-resolution maps across various applications has underscored the necessity of accurately segmenting building vectors from overhead imagery. However, current deep neural networks often produce raster data outputs,…

The human visual system excels at detecting local blur of visual images, but the underlying mechanism is not well understood. Traditional views of blur such as reduction in energy at high frequencies and loss of phase coherence at localized…

Deep convolutional neural networks (DCNNs) and the ventral visual pathway share vast architectural and functional similarities in visual challenges such as object recognition. Recent insights have demonstrated that both hierarchical…

Localization is a critically essential and crucial enabler of autonomous robots. While deep learning has made significant strides in many computer vision tasks, it is still yet to make a sizeable impact on improving capabilities of metric…

Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene…

Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…

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…

Visual patterns represent the discernible regularity in the visual world. They capture the essential nature of visual objects or scenes. Understanding and modeling visual patterns is a fundamental problem in visual recognition that has wide…