相关论文: MeshVPR: Citywide Visual Place Recognition Using 3…

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images.…

Visual Place Recognition (VPR) is the task of matching current visual imagery from a camera to images stored in a reference map of the environment. While initial VPR systems used simple direct image methods or hand-crafted visual features,…

Visual Place Recognition (VPR) is often characterized as being able to recognize the same place despite significant changes in appearance and viewpoint. VPR is a key component of Spatial Artificial Intelligence, enabling robotic platforms…

Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…

In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to share a frozen DINOv2 backbone. Two…

Recently several fusion and switching based approaches have been presented to solve the problem of Visual Place Recognition. In spite of these systems demonstrating significant boost in VPR performance they each have their own set of…

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…

Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…

Mobile robots necessitate advanced natural language understanding capabilities to accurately identify locations and perform tasks such as package delivery. However, traditional visual place recognition (VPR) methods rely solely on…

A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting conditions. Numerous approaches based on deep-learnt image…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

DensePose provides a pixel-accurate association of images with 3D mesh coordinates, but does not provide a 3D mesh, while Human Mesh Reconstruction (HMR) systems have high 2D reprojection error, as measured by DensePose localization…

There has recently been great interest in neural rendering methods. Some approaches use 3D geometry reconstructed with Multi-View Stereo (MVS) but cannot recover from the errors of this process, while others directly learn a volumetric…

Recent years have witnessed many advancements in the applications of 3D textured meshes. As the demand continues to rise, evaluating the perceptual quality of this new type of media content becomes crucial for quality assurance and…

Visual Place Recognition (VPR) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…

Event stream-based Visual Place Recognition (VPR) is an emerging research direction that offers a compelling solution to the instability of conventional visible-light cameras under challenging conditions such as low illumination,…

Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…

This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…

Visual Place Recognition (VPR) is generally concerned with localizing outdoor images. However, localizing indoor scenes that contain part of an outdoor scene can be of large value for a wide range of applications. In this paper, we…