相关论文: 3DoF Localization from a Single Image and an Objec…
Existing object localization methods are tailored to locate specific classes of objects, relying heavily on abundant labeled data for model optimization. However, acquiring large amounts of labeled data is challenging in many real-world…
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…
We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view…
Single-view place recognition, that we can define as finding an image that corresponds to the same place as a given query image, is a key capability for autonomous navigation and mapping. Although there has been a considerable amount of…
Image geolocalization, the task of identifying the geographic location depicted in an image, is important for applications in crisis response, digital forensics, and location-based intelligence. While recent advances in large language…
Visual-Language Models (VLMs) have shown remarkable performance across various tasks, particularly in recognizing geographic information from images. However, VLMs still show regional biases in this task. To systematically evaluate these…
We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…
Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…
We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…
Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Three-dimensional shape reconstruction of 2D landmark points on a single image is a hallmark of human vision, but is a task that has been proven difficult for computer vision algorithms. We define a feed-forward deep neural network…
Real-world robots localize objects from natural-language instructions while scenes around them keep changing. Yet most of the existing 3D visual grounding (3DVG) method still assumes a reconstructed and up-to-date point cloud, an assumption…
We introduce the novel problem of localizing all the instances of an object (seen or unseen during training) in a natural image via sketch query. We refer to this problem as sketch-guided object localization. This problem is distinctively…
We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…
3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…
Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…
Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…