相关论文: Privacy-Preserving Representations are not Enough …

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…

This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…

Scene coordinates regression (SCR), i.e., predicting 3D coordinates for every pixel of a given image, has recently shown promising potential. However, existing methods remain limited to small scenes memorized during training, and thus…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Research in 3D mapping is crucial for smart city applications, yet the cost of acquiring 3D data often hinders progress. Visual localization, particularly monocular camera position estimation, offers a solution by determining the camera's…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Personal devices (e.g. laptops, tablets, and mobile phones) are conventional in daily life and have the ability to store users' private data. The security problems related to these appliances have become a primary concern for both users and…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…

Image registration is a process of aligning two or more images of same objects using geometric transformation. Most of the existing approaches work on the assumption of location invariance. These approaches require object-centric images to…

Most existing image privacy protection works focus mainly on the privacy of photo owners and their friends, but lack the consideration of other people who are in the background of the photos and the related location privacy issues. In fact,…

Face images are rich data items that are useful and can easily be collected in many applications, such as in 1-to-1 face verification tasks in the domain of security and surveillance systems. Multiple methods have been proposed to protect…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Location-Based Services (LBSs) provide valuable services, with convenient features for mobile users. However, the location and other information disclosed through each query to the LBS erodes user privacy. This is a concern especially…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization, i.e.,…

Visual localization is of great importance in robotics and computer vision. Recently, scene coordinate regression based methods have shown good performance in visual localization in small static scenes. However, it still estimates camera…

Visual place recognition (VPR) is critical in not only localization and mapping for autonomous driving vehicles, but also in assistive navigation for the visually impaired population. To enable a long-term VPR system on a large scale,…