相关论文: Map-Relative Pose Regression for Visual Re-Localiz…

Absolute pose regressor (APR) networks are trained to estimate the pose of the camera given a captured image. They compute latent image representations from which the camera position and orientation are regressed. APRs provide a different…

Accurate camera localization is crucial for modern retail environments, enabling enhanced customer experiences, streamlined inventory management, and autonomous operations. While Absolute Pose Regression (APR) from a single image offers a…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…

Absolute camera pose regressors estimate the position and orientation of a camera given the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron (MLP) head is trained using images and pose labels to embed…

Absolute camera pose regressors estimate the position and orientation of a camera from the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron head is trained with images and pose labels to embed a single…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

The localization of objects is a crucial task in various applications such as robotics, virtual and augmented reality, and the transportation of goods in warehouses. Recent advances in deep learning have enabled the localization using…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D Gaussian Splatting…

Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However, the predominant APR architectures only rely on 2D operations during inference, resulting in limited accuracy of pose…

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…