相关论文: FUSELOC: Fusing Global and Local Descriptors to Di…

Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We…

The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…

Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

The cost-effective visual representation and fast query-by-example search are two challenging goals that should be maintained for web-scale visual retrieval tasks on moderate hardware. This paper introduces a fast and robust method that…

Worldwide visual geo-localization aims to determine the geographic location of an image anywhere on Earth using only its visual content. Despite recent progress, learning expressive representations of geographic space remains challenging…

With the aim to improve the performance of feature matching, we present an unsupervised approach to fuse various local descriptors in the space of homographies. Inspired by the observation that the homographies of correct feature…

Hierarchical topological representations can significantly reduce search times within mapping and localization algorithms. Although recent research has shown the potential for such approaches, limited consideration has been given to the…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

Matching 2D keypoints in an image to a sparse 3D point cloud of the scene without requiring visual descriptors has garnered increased interest due to its low memory requirements, inherent privacy preservation, and reduced need for expensive…

Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with feature-based localization. These methods rely on direct matching…

Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

State-of-the-art hierarchical localisation pipelines (HLoc) employ image retrieval (IR) to establish 2D-3D correspondences by selecting the top-$k$ most similar images from a reference database. While increasing $k$ improves localisation…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Visual correspondence is a crucial step in key computer vision tasks, including camera localization, image registration, and structure from motion. The most effective techniques for matching keypoints currently involve using learned sparse…

We propose a method to match anatomical locations between pairs of medical images in longitudinal comparisons. The matching is made possible by computing a descriptor of the query point in a source image based on a hierarchical sparse…