相关论文: SceneGraphLoc: Cross-Modal Coarse Visual Localizat…

Recently, with the prevalence of large-scale image dataset, the co-occurrence information among classes becomes rich, calling for a new way to exploit it to facilitate inference. In this paper, we propose Obj-GloVe, a generic scene-based…

Recently, neural radiance fields (NeRF) have gained significant attention in the field of visual localization. However, existing NeRF-based approaches either lack geometric constraints or require extensive storage for feature matching,…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reexamine the critical design choices established in previous…

Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…

We present SceneTok, a novel tokenizer for encoding view sets of scenes into a compressed and diffusable set of unstructured tokens. Existing approaches for 3D scene representation and generation commonly use 3D data structures or…

Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory…

Cross-View Geo-Localisation within urban regions is challenging in part due to the lack of geo-spatial structuring within current datasets and techniques. We propose utilising graph representations to model sequences of local observations…

Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesizing database images from unseen viewpoints using NeRF…

Understanding a visual scene incorporates objects, relationships, and context. Traditional methods working on an image mostly focus on object detection and fail to capture the relationship between the objects. Relationships can give rich…

This work studies the representational mapping across multimodal data such that given a piece of the raw data in one modality the corresponding semantic description in terms of the raw data in another modality is immediately obtained. Such…

3D content generation has recently attracted significant research interest, driven by its critical applications in VR/AR and embodied AI. In this work, we tackle the challenging task of synthesizing multiple 3D assets within a single scene…

Neural implicit representations such as NeRF have revolutionized 3D scene representation with photo-realistic quality. However, existing methods for visual localization within NeRF representations suffer from inefficiency and scalability…

Existing foundation models, such as CLIP, aim to learn a unified embedding space for multimodal data, enabling a wide range of downstream web-based applications like search, recommendation, and content classification. However, these models…

Visual relocalization is a fundamental task in the field of 3D computer vision, estimating a camera's pose when it revisits a previously known scene. While point-based hierarchical relocalization methods have shown strong scalability and…