相关论文: HaLo-NeRF: Learning Geometry-Guided Semantics for …

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,…

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…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Neural Radiance Fields (NeRF) have garnered considerable attention as a paradigm for novel view synthesis by learning scene representations from discrete observations. Nevertheless, NeRF exhibit pronounced performance degradation when…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…

We propose an attentive local feature descriptor suitable for large-scale image retrieval, referred to as DELF (DEep Local Feature). The new feature is based on convolutional neural networks, which are trained only with image-level…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Neural volumetric representations have shown the potential that Multi-layer Perceptrons (MLPs) can be optimized with multi-view calibrated images to represent scene geometry and appearance, without explicit 3D supervision. Object…

Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes. Recent implicit neural reconstruction techniques are…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

Multimodal Large Language Models (MLLMs) have demonstrated an excellent understanding of images and 3D data. However, both modalities have shortcomings in holistically capturing the appearance and geometry of objects. Meanwhile, Neural…

We present a learning-based method for synthesizing novel views of complex scenes using only unstructured collections of in-the-wild photographs. We build on Neural Radiance Fields (NeRF), which uses the weights of a multilayer perceptron…

Recent works on generalizable NeRFs have shown promising results on novel view synthesis from single or few images. However, such models have rarely been applied on other downstream tasks beyond synthesis such as semantic understanding and…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

Semantic localization (SeLo) refers to the task of obtaining the most relevant locations in large-scale remote sensing (RS) images using semantic information such as text. As an emerging task based on cross-modal retrieval, SeLo achieves…

Multimodal Large Language Models (MLLMs) have made impressive progress in connecting vision and language, but they still struggle with spatial understanding and viewpoint-aware reasoning. Recent efforts aim to augment the input…

In current biological and medical research, statistical shape modeling (SSM) provides an essential framework for the characterization of anatomy/morphology. Such analysis is often driven by the identification of a relatively small number of…