相关论文: Learning to Produce Semi-dense Correspondences for…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

Estimation of human shape and pose from a single image is a challenging task. It is an even more difficult problem to map the identified human shape onto a 3D human model. Existing methods map manually labelled human pixels in real 2D…

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

We present a novel method for efficiently producing semi-dense matches across images. Previous detector-free matcher LoFTR has shown remarkable matching capability in handling large-viewpoint change and texture-poor scenarios but suffers…

Conventional absolute camera pose via a Perspective-n-Point (PnP) solver often assumes that the correspondences between 2D image pixels and 3D points are given. When the correspondences between 2D and 3D points are not known a priori, the…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Training high-accuracy 3D detectors necessitates massive labeled 3D annotations with 7 degree-of-freedom, which is laborious and time-consuming. Therefore, the form of point annotations is proposed to offer significant prospects for…

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…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Establishing robust and accurate correspondences between a pair of images is a long-standing computer vision problem with numerous applications. While classically dominated by sparse methods, emerging dense approaches offer a compelling…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

Automatic defect detection for 3D printing processes, which shares many characteristics with change detection problems, is a vital step for quality control of 3D printed products. However, there are some critical challenges in the current…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

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…