相关论文: Deep Homography Estimation for Visual Place Recogn…

Visual Place Recognition (VPR) aims to estimate the location of an image by treating it as a retrieval problem. VPR uses a database of geo-tagged images and leverages deep neural networks to extract a global representation, called…

Visual Place Recognition (VPR) is a critical task for performing global re-localization in visual perception systems. It requires the ability to accurately recognize a previously visited location under variations such as illumination,…

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.…

This paper adapts a general dataset representation technique to produce robust Visual Place Recognition (VPR) descriptors, crucial to enable real-world mobile robot localisation. Two parallel lines of work on VPR have shown, on one side,…

Visual Place Recognition (VPR) has been a subject of significant research over the last 15 to 20 years. VPR is a fundamental task for autonomous navigation as it enables self-localization within an environment. Although robots are often…

Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient lighting conditions during day and night. Moreover, a…

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Homography estimation is an important task in computer vision applications, such as image stitching, video stabilization, and camera calibration. Traditional homography estimation methods heavily depend on the quantity and distribution of…

This paper introduces a new architecture for human pose estimation using a multi- layer convolutional network architecture and a modified learning technique that learns low-level features and higher-level weak spatial models. Unconstrained…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…

Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…

Visual relocalization is a key technique to autonomous driving, robotics, and virtual/augmented reality. After decades of explorations, absolute pose regression (APR), scene coordinate regression (SCR), and hierarchical methods (HMs) have…

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…

Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM). VPR faces challenges such as accurate image neighbor retrieval…

In this paper, we are interested in the bottom-up paradigm of estimating human poses from an image. We study the dense keypoint regression framework that is previously inferior to the keypoint detection and grouping framework. Our…

Human pose estimation (HPE) is one of the most challenging tasks in computer vision as humans are deformable by nature and thus their pose has so much variance. HPE aims to correctly identify the main joint locations of a single person or…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

t-distributed stochastic neighbor embedding (t-SNE) is a well-established visualization method for complex high-dimensional data. However, the original t-SNE method is nonparametric, stochastic, and often cannot well prevserve the global…