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

In this paper, we propose a method for coarse camera pose computation 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 of robotics or augmented…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…

Monocular estimation of 3d human pose has attracted increased attention with the availability of large ground-truth motion capture datasets. However, the diversity of training data available is limited and it is not clear to what extent…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…

Despite the significant progress in 6-DoF visual localization, researchers are mostly driven by ground-level benchmarks. Compared with aerial oblique photography, ground-level map collection lacks scalability and complete coverage. In this…

Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…