相关论文: PEnG: Pose-Enhanced Geo-Localisation

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…

Hand pose estimation from a single depth image is an essential topic in computer vision and human computer interaction. Despite recent advancements in this area promoted by convolutional neural network, accurate hand pose estimation is…

A major bottleneck of pedestrian detection lies on the sharp performance deterioration in the presence of small-size pedestrians that are relatively far from the camera. Motivated by the observation that pedestrians of disparate spatial…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We tackle the challenge of reliably and automatically localizing pedestrians in real-life conditions through overhead depth imaging at unprecedented high-density conditions. Leveraging upon a combination of Histogram of Oriented…

In this work, we aim at an important but less explored problem of a simple yet effective backbone specific for cross-view geo-localization task. Existing methods for cross-view geo-localization tasks are frequently characterized by 1)…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Pose estimation of known objects is fundamental to tasks such as robotic grasping and manipulation. The need for reliable grasping imposes stringent accuracy requirements on pose estimation in cluttered, occluded scenes in dynamic…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…

Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…