相关论文: Accelerated Coordinate Encoding: Learning to Reloc…

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…

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust…

Pose regression networks predict the camera pose of a query image relative to a known environment. Within this family of methods, absolute pose regression (APR) has recently shown promising accuracy in the range of a few centimeters in…

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

We present RELOCATE, a simple training-free baseline designed to perform the challenging task of visual query localization in long videos. To eliminate the need for task-specific training and efficiently handle long videos, RELOCATE…

Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation. However, current SCR methods often face challenges in…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…

The world is moving towards faster data transformation with more efficient localization of a user being the preliminary requirement. This work investigates the use of a deep learning technique for wireless localization, considering both…

Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

Many methods have been developed to help people find the video contents they want efficiently. However, there are still some unsolved problems in this area. For example, given a query video and a reference video, how to accurately localize…

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…

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…

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…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

The performance of human pose estimation depends on the spatial accuracy of keypoint localization. Most existing methods pursue the spatial accuracy through learning the high-resolution (HR) representation from input images. By the…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…