相关论文: VOLoc: Visual Place Recognition by Querying Compre…

Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Recent studies in long video understanding have harnessed the advanced visual-language reasoning capabilities of Large Multimodal Models (LMMs), driving the evolution of video-LMMs specialized for processing extended video sequences.…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Hierarchical LiDAR geometry compression encodes voxel occupancies from low to high bit-depths, yet prior methods treat each depth independently and re-estimate local context from coordinates at every level, limiting compression efficiency.…

Cross-view localization (CVL) matches ground-level images with aerial references to determine the geo-position of a camera, enabling smart vehicles to self-localize offline in GNSS-denied environments. However, most CVL methods output only…

This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine…

Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…

With advances in image recognition technology based on deep learning, automatic video analysis by Artificial Intelligence is becoming more widespread. As the amount of video used for image recognition increases, efficient compression…

Visual Place Recognition (VPR) is a scene-oriented image retrieval problem in computer vision in which re-ranking based on local features is commonly employed to improve performance. In robotics, VPR is also referred to as Loop Closure…

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 methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…