相关论文: Long-term Visual Localization with Mobile Sensors

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…

We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…

Image based localization is a classical computer vision challenge, with several well-known datasets. Generally, datasets consist of a visual 3D database that captures the modeled scenery, as well as query images whose 3D pose is to be…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…

We propose a novel approach to feature point matching, suitable for robust and accurate outdoor visual localization in long-term scenarios. Given a query image, we first match it against a database of registered reference images, using…

Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…

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…

Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

This paper addresses the problem of vehicle-mounted camera localization by matching a ground-level image with an overhead-view satellite map. Existing methods often treat this problem as cross-view image retrieval, and use learned deep…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…