相关论文: MobileARLoc: On-device Robust Absolute Localisatio…

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…

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…

Markerless Mobile Augmented Reality (AR) aims to anchor digital content in the physical world without using specific 2D or 3D objects. Absolute Pose Regressors (APR) are end-to-end machine learning solutions that infer the device's pose…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

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…

In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A…

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…

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…

Accurate and real-time 6-DoF localization is mission-critical for autonomous lunar landing, yet existing approaches remain limited: visual odometry (VO) drifts unboundedly, while map-based absolute localization fails in texture-sparse or…

Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…

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…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…

Global localization is necessary for autonomous operations on the lunar surface where traditional Earth-based navigation infrastructure, such as GPS, is unavailable. As NASA advances toward sustained lunar presence under the Artemis…

Visual-Inertial Odometry (VIO) supports immersive Virtual Reality (VR) by fusing camera and Inertial Measurement Unit (IMU) data for real-time pose. However, current trend of offloading VIO to edge servers can lead server-side threat…

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…