相关论文: What to Learn: Features, Image Transformations, or…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Local features that are robust to both viewpoint and appearance changes are crucial for many computer vision tasks. In this work we investigate if photorealistic image stylization improves robustness of local features to not only day-night,…

Robust long-term visual localization in complex industrial environments is critical for mobile robotic systems. Existing approaches face limitations: handcrafted features are illumination-sensitive, learned features are computationally…

We tackle the problem of visual localization under changing conditions, such as time of day, weather, and seasons. Recent learned local features based on deep neural networks have shown superior performance over classical hand-crafted local…

Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

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…

Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…

Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Finding and localizing the conceptual changes in two scenes in terms of the presence or removal of objects in two images belonging to the same scene at different times in special care applications is of great significance. This is mainly…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

Illumination effects in images, specifically cast shadows and shading, have been shown to decrease the performance of deep neural networks on a large number of vision-based detection, recognition and segmentation tasks in urban driving…

Feature shifts between data sources are present in many applications involving healthcare, biomedical, socioeconomic, financial, survey, and multi-sensor data, among others, where unharmonized heterogeneous data sources, noisy data…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

We present a method of improving visual place recognition and metric localisation under very strong appear- ance change. We learn an invertable generator that can trans- form the conditions of images, e.g. from day to night, summer to…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…