相关论文: NYC-Indoor-VPR: A Long-Term Indoor Visual Place Re…

Visual localization in large and complex indoor scenes, dominated by weakly textured rooms and repeating geometric patterns, is a challenging problem with high practical relevance for applications such as Augmented Reality and robotics. To…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

We propose a novel inverse rendering method that enables the transformation of existing indoor panoramas with new indoor furniture layouts under natural illumination. To achieve this, we captured indoor HDR panoramas along with real-time…

Indoor rooms are among the most common use cases in 3D scene understanding. Current state-of-the-art methods for this task are driven by large annotated datasets. Room layouts are especially important, consisting of structural elements in…

This paper proposes an approach for rapid bounding box annotation for object detection datasets. The procedure consists of two stages: The first step is to annotate a part of the dataset manually, and the second step proposes annotations…

We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

Appearance based person re-identification in a real-world video surveillance system with non-overlapping camera views is a challenging problem for many reasons. Current state-of-the-art methods often address the problem by relying on…

Indoor monocular depth estimation helps home automation, including robot navigation or AR/VR for surrounding perception. Most previous methods primarily experiment with the NYUv2 Dataset and concentrate on the overall performance in their…

Data seems cheap to get, and in many ways it is, but the process of creating a high quality labeled dataset from a mass of data is time-consuming and expensive. With the advent of rich 3D repositories, photo-realistic rendering systems…

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…

Visual perspective taking (VPT) is the ability to perceive and reason about the perspectives of others. It is an essential feature of human intelligence, which develops over the first decade of life and requires an ability to process the 3D…

Indoor robotics localization, navigation, and interaction heavily rely on scene understanding and reconstruction. Compared to the monocular vision which usually does not explicitly introduce any geometrical constraint, stereo vision-based…

Visual Prompt Tuning (VPT) has emerged as a parameter-efficient fine-tuning paradigm for vision transformers, with conventional approaches utilizing dataset-level prompts that remain the same across all input instances. We observe that this…

Visual place recognition (VPR) is usually considered as a specific image retrieval problem. Limited by existing training frameworks, most deep learning-based works cannot extract sufficiently stable global features from RGB images and rely…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

Inferring the information of 3D layout from a single equirectangular panorama is crucial for numerous applications of virtual reality or robotics (e.g., scene understanding and navigation). To achieve this, several datasets are collected…

A core process in human cognition is analogical mapping: the ability to identify a similar relational structure between different situations. We introduce a novel task, Visual Analogies of Situation Recognition, adapting the classical…

This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several…