相关论文: LDL: Line Distance Functions for Panoramic Localiz…

3D Morphable Models (3DMMs) provide promising 3D face reconstructions in various applications. However, existing methods struggle to reconstruct faces with extreme expressions due to deficiencies in supervisory signals, such as sparse or…

Encoding time-series with Linear Dynamical Systems (LDSs) leads to rich models with applications ranging from dynamical texture recognition to video segmentation to name a few. In this paper, we propose to represent LDSs with…

Two approaches are proposed for cross-pose face recognition, one is based on the 3D reconstruction of facial components and the other is based on the deep Convolutional Neural Network (CNN). Unlike most 3D approaches that consider holistic…

Deep distance metric learning (DDML), which is proposed to learn image similarity metrics in an end-to-end manner based on the convolution neural network, has achieved encouraging results in many computer vision tasks.$L2$-normalization in…

Deep learning (DL) is the state-of-the-art methodology in various medical image segmentation tasks. However, it requires relatively large amounts of manually labeled training data, which may be infeasible to generate in some applications.…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…

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…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

To address the issues of weak correlation between multi-view features, low recognition accuracy of small-scale targets, and insufficient robustness in complex scenarios in underground pipeline detection using 3D GPR, this paper proposes a…

Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping…

Ensuring the safety and extended operational life of fighter aircraft necessitates frequent and exhaustive inspections. While surface defect detection is feasible for human inspectors, manual methods face critical limitations in…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

Geodesic distances on manifolds have numerous applications in image processing, computer graphics and computer vision. In this work, we introduce an approach called `LGGD' (Learned Generalized Geodesic Distances). This method involves…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Convolutional dictionary learning (CDL) estimates shift invariant basis adapted to multidimensional data. CDL has proven useful for image denoising or inpainting, as well as for pattern discovery on multivariate signals. As estimated…

3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…

Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer…

Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…