相关论文: Two-View Geometry Scoring Without Correspondences

This paper presents a method for carrying fair comparisons of the accuracy of pose estimation using fiducial markers. These comparisons rely on large sets of high-fidelity synthetic images enabling deep exploration of the 6 degrees of…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

One of the main challenges since the advancement of convolutional neural networks is how to connect the extracted feature map to the final classification layer. VGG models used two sets of fully connected layers for the classification part…

Local features are essential to many modern downstream applications. Therefore, it is of interest to determine the properties of local features that contribute to the downstream performance for a better design of feature detectors and…

Few-shot deep learning is a topical challenge area for scaling visual recognition to open ended growth of unseen new classes with limited labeled examples. A promising approach is based on metric learning, which trains a deep embedding to…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…

Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…

We consider the problem of two-view matching under significant viewpoint changes with view synthesis. We propose two novel methods, minimizing the view synthesis overhead. The first one, named DenseAffNet, uses dense affine shapes estimates…

In this work, we propose a novel framework named Region-Aware Network (RANet), which learns the ability of anti-confusing in case of heavy occlusion, nearby person and symmetric appearance, for human pose estimation. Specifically, the…

Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Robust estimation of the essential matrix, which encodes the relative position and orientation of two cameras, is a fundamental step in structure from motion pipelines. Recent deep-based methods achieved accurate estimation by using complex…

We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…

We address the problem of finding reliable dense correspondences between a pair of images. This is a challenging task due to strong appearance differences between the corresponding scene elements and ambiguities generated by repetitive…

The objective of this work is human pose estimation in videos, where multiple frames are available. We investigate a ConvNet architecture that is able to benefit from temporal context by combining information across the multiple frames…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…