相关论文: Poses as Queries: Image-to-LiDAR Map Localization …

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…

Visual place recognition is a challenging task in the field of computer vision, and autonomous robotics and vehicles, which aims to identify a location or a place from visual inputs. Contemporary methods in visual place recognition employ…

Transformer architectures have become the model of choice in natural language processing and are now being introduced into computer vision tasks such as image classification, object detection, and semantic segmentation. However, in the…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…

This paper proposes a statistical approach to 2D pose estimation from human images. The main problems with the standard supervised approach, which is based on a deep recognition (image-to-pose) model, are that it often yields anatomically…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Recent advancements in visual localization and mapping have demonstrated considerable success in integrating point and line features. However, expanding the localization framework to include additional mapping components frequently results…

This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of…

The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Human pose estimation is a challenging task due to its structured data sequence nature. Existing methods primarily focus on pair-wise interaction of body joints, which is insufficient for scenarios involving overlapping joints and rapidly…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Cross-resolution image alignment is a key problem in multiscale gigapixel photography, which requires to estimate homography matrix using images with large resolution gap. Existing deep homography methods concatenate the input images or…

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…

In this paper, we propose a pose grammar to tackle the problem of 3D human pose estimation. Our model directly takes 2D pose as input and learns a generalized 2D-3D mapping function. The proposed model consists of a base network which…