相关论文: KS-APR: Keyframe Selection for Robust Absolute Pos…

Absolute Pose Regressors (APRs) directly estimate camera poses from monocular images, but their accuracy is unstable for different queries. Uncertainty-aware APRs provide uncertainty information on the estimated pose, alleviating the impact…

Accurate camera localization is crucial for modern retail environments, enabling enhanced customer experiences, streamlined inventory management, and autonomous operations. While Absolute Pose Regression (APR) from a single image offers a…

Absolute pose regressor (APR) networks are trained to estimate the pose of the camera given a captured image. They compute latent image representations from which the camera position and orientation are regressed. APRs provide a different…

Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However, the predominant APR architectures only rely on 2D operations during inference, resulting in limited accuracy of pose…

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…

Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…

The localization of objects is a crucial task in various applications such as robotics, virtual and augmented reality, and the transportation of goods in warehouses. Recent advances in deep learning have enabled the localization using…

Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…

In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D Gaussian Splatting…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

Recent years have seen significant improvement in absolute camera pose estimation, paving the way for pervasive markerless Augmented Reality (AR). However, accurate absolute pose estimation techniques are computation- and storage-heavy,…

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is…

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…

Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

Relative pose estimation is fundamental for SLAM, visual localization, and 3D reconstruction. Existing Relative Pose Regression (RPR) methods face a key trade-off: feature-matching pipelines achieve high accuracy but block gradient flow via…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…