相关论文: Multi-View Pose-Agnostic Change Localization with …

This paper presents a pose-free, feed-forward 3D Gaussian Splatting (3DGS) framework designed to handle unfavorable input views. A common rendering setup for training feed-forward approaches places a 3D object at the world origin and…

Place recognition is a crucial component that enables autonomous vehicles to obtain localization results in GPS-denied environments. In recent years, multimodal place recognition methods have gained increasing attention. They overcome the…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

We present a multi-camera 3D pedestrian detection method that does not need to train using data from the target scene. We estimate pedestrian location on the ground plane using a novel heuristic based on human body poses and person's…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

While generalizable 3D Gaussian splatting enables efficient, high-quality rendering of unseen scenes, it heavily depends on precise camera poses for accurate geometry. In real-world scenarios, obtaining accurate poses is challenging,…

3D-consistent image generation from a single 2D semantic label is an important and challenging research topic in computer graphics and computer vision. Although some related works have made great progress in this field, most of the existing…

One of the key criticisms of deep learning is that large amounts of expensive and difficult-to-acquire training data are required in order to train models with high performance and good generalization capabilities. Focusing on the task of…

The goal of this paper is to detect what has changed, if anything, between two "in the wild" images of the same 3D scene acquired from different camera positions and at different temporal instances. The open-set nature of this problem,…

Generating high-quality novel view renderings of 3D Gaussian Splatting (3DGS) in scenes featuring transient objects is challenging. We propose a novel hybrid representation, termed as HybridGS, using 2D Gaussians for transient objects per…

3D Gaussian Splatting (3DGS) has become one of the most promising 3D reconstruction technologies. However, label noise in real-world scenarios-such as moving objects, non-Lambertian surfaces, and shadows-often leads to reconstruction…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…

The development of autonomous vehicles generates a tremendous demand for a low-cost solution with a complete set of camera sensors capturing the environment around the car. It is essential for object detection and tracking to address these…

To automatically localize a target object in an image is crucial for many computer vision applications. To represent the 2D object, ellipse labels have recently been identified as a promising alternative to axis-aligned bounding boxes. This…

This paper introduces GS-Pose, a unified framework for localizing and estimating the 6D pose of novel objects. GS-Pose begins with a set of posed RGB images of a previously unseen object and builds three distinct representations stored in a…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…