相关论文: FaVoR: Features via Voxel Rendering for Camera Rel…

In this paper, we propose to go beyond the well-established approach to vision-based localization that relies on visual descriptor matching between a query image and a 3D point cloud. While matching keypoints via visual descriptors makes…

Hierarchical visual localization methods achieve state-of-the-art accuracy but require substantial memory as they need to store all database images. Direct 2D-3D matching requires significantly less memory but suffers from lower accuracy…

Estimating a 6DOF object pose from a single image is very challenging due to occlusions or textureless appearances. Vector-field based keypoint voting has demonstrated its effectiveness and superiority on tackling those issues. However,…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Digitizing humans and synthesizing photorealistic avatars with explicit 3D pose and camera controls are central to VR, telepresence, and entertainment. Existing skinning-based workflows require laborious manual rigging or template-based…

Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…

Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

The task of Visual Place Recognition (VPR) is to predict the location of a query image from a database of geo-tagged images. Recent studies in VPR have highlighted the significant advantage of employing pre-trained foundation models like…

3D reconstruction is a core task in many applications such as robot navigation or sites inspections. Finding the best poses to capture part of the scene is one of the most challenging topic that goes under the name of Next Best View.…

In this study, we propose a novel scene descriptor for visual place recognition. Unlike popular bag-of-words scene descriptors which rely on a library of vector quantized visual features, our proposed descriptor is based on a library of raw…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

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…

In this paper we introduce a new camera localization strategy designed for image sequences captured in challenging industrial situations such as industrial parts inspection. To deal with peculiar appearances that hurt standard 3D…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

Recent volumetric 3D reconstruction methods can produce very accurate results, with plausible geometry even for unobserved surfaces. However, they face an undesirable trade-off when it comes to multi-view fusion. They can fuse all available…