相关论文: MapLocNet: Coarse-to-Fine Feature Registration for…

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…

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

This paper addresses the problem of vehicle-mounted camera localization by matching a ground-level image with an overhead-view satellite map. Existing methods often treat this problem as cross-view image retrieval, and use learned deep…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While Convolution Neural Networks (CNNs) currently dominate state-of-the-art VPR performance, their high…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Incorporating a customized object into image generation presents an attractive feature in text-to-image generation. However, existing optimization-based and encoder-based methods are hindered by drawbacks such as time-consuming…

Existing high-resolution satellite image forgery localization methods rely on patch-based or downsampling-based training. Both of these training methods have major drawbacks, such as inaccurate boundaries between pristine and forged…

High-definition (HD) maps are crucial for autonomous vehicles, but their creation and maintenance is very costly. This motivates the idea of online HD map construction. To provide a continuous large-scale stream of training data, existing…

Lane-level scene annotations provide invaluable data in autonomous vehicles for trajectory planning in complex environments such as urban areas and cities. However, obtaining such data is time-consuming and expensive since lane annotations…

Deformable image registration is a critical technology in medical image analysis, with broad applications in clinical practice such as disease diagnosis, multi-modal fusion, and surgical navigation. Traditional methods often rely on…

We present LM-Reloc -- a novel approach for visual relocalization based on direct image alignment. In contrast to prior works that tackle the problem with a feature-based formulation, the proposed method does not rely on feature matching…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…

For several emerging technologies such as augmented reality, autonomous driving and robotics, visual localization is a critical component. Directly regressing camera pose/3D scene coordinates from the input image using deep neural networks…

One of the main factors that contributed to the large advances in autonomous driving is the advent of deep learning. For safer self-driving vehicles, one of the problems that has yet to be solved completely is lane detection. Since methods…

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,…