相关论文: 3DoF Localization from a Single Image and an Objec…

Visual localization plays an important role in the positioning and navigation of robotics systems within previously visited environments. When visits occur over long periods of time, changes in the environment related to seasons or…

Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while…

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

To act in the world, a model must name what it sees and know where it is in 3D. Today's vision-language models (VLMs) excel at open-ended 2D description and grounding, yet multi-object 3D detection remains largely missing from the VLM…

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…

Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…

Place recognition and visual localization are particularly challenging in wide baseline configurations. In this paper, we contribute with the \emph{Danish Airs and Grounds} (DAG) dataset, a large collection of street-level and aerial images…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…

We introduce LDL, a fast and robust algorithm that localizes a panorama to a 3D map using line segments. LDL focuses on the sparse structural information of lines in the scene, which is robust to illumination changes and can potentially…

Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…

This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…

The human visual system processes images with varied degrees of resolution, with the fovea, a small portion of the retina, capturing the highest acuity region, which gradually declines toward the field of view's periphery. However, the…

This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…

Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…

Landmark localization is a challenging problem in computer vision with a multitude of applications. Recent deep learning based methods have shown improved results by regressing likelihood maps instead of regressing the coordinates directly.…