相关论文: Lazy Visual Localization via Motion Averaging

Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…

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…

This letter presents LiteLoc, a novel and efficient localizer built on 3D Gaussian Splatting (3DGS). The previous state-of-the-art (SoTA) sparse-to-dense localizer, STDLoc, has shown remarkable localization capability but suffers from…

In this paper, we present SPVLoc, a global indoor localization method that accurately determines the six-dimensional (6D) camera pose of a query image and requires minimal scene-specific prior knowledge and no scene-specific training. Our…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

With the recent advances in video and 3D understanding, novel 4D spatio-temporal methods fusing both concepts have emerged. Towards this direction, the Ego4D Episodic Memory Benchmark proposed a task for Visual Queries with 3D Localization…

Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to the body, limiting their usability and comfort-of-use and…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D models. Most advanced…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…

Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions weaken the assumptions of traditional urban-centric…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

Image based localization is a classical computer vision challenge, with several well-known datasets. Generally, datasets consist of a visual 3D database that captures the modeled scenery, as well as query images whose 3D pose is to be…

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…

Visual Localization is one of the key enabling technologies for autonomous driving and augmented reality. High quality datasets with accurate 6 Degree-of-Freedom (DoF) reference poses are the foundation for benchmarking and improving…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…