相关论文: On the Estimation of Image-matching Uncertainty in…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

Constructing high-definition (HD) maps from sensory input requires accurately mapping the road elements in image space to the Bird's Eye View (BEV) space. The precision of this mapping directly impacts the quality of the final vectorized HD…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

This paper proposes a novel method for vision-based metric cross-view geolocalization (CVGL) that matches the camera images captured from a ground-based vehicle with an aerial image to determine the vehicle's geo-pose. Since aerial images…

Dense pose estimation is a dense 3D prediction task for instance-level human analysis, aiming to map human pixels from an RGB image to a 3D surface of the human body. Due to a large amount of surface point regression, the training process…

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…

Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), advanced methods commonly exploit LED shape…

Image prediction methods often struggle on tasks that require changing the positions of objects, such as video prediction, producing blurry images that average over the many positions that objects might occupy. In this paper, we propose a…

Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…

Visual place recognition (VPR) is a fundamental task for many applications such as robot localization and augmented reality. Recently, the hierarchical VPR methods have received considerable attention due to the trade-off between accuracy…

Current person image retrieval methods have achieved great improvements in accuracy metrics. However, they rarely describe the reliability of the prediction. In this paper, we propose an Uncertainty-Aware Learning (UAL) method to remedy…

A key challenge in translating Visual Place Recognition (VPR) from the lab to long-term deployment is ensuring a priori that a system can meet user-specified performance requirements across different parts of an environment, rather than…

Visual Place Recognition (VPR) is a major challenge for robotics and autonomous systems, with the goal of predicting the location of an image based solely on its visual features. State-of-the-art (SOTA) models extract global descriptors…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…

Recent studies show that vision models pre-trained in generic visual learning tasks with large-scale data can provide useful feature representations for a wide range of visual perception problems. However, few attempts have been made to…

Deploying deep learning (DL) models in medical applications relies on predictive performance and other critical factors, such as conveying trustworthy predictive uncertainty. Uncertainty estimation (UE) methods provide potential solutions…