相关论文: A2-GNN: Angle-Annular GNN for Visual Descriptor-fr…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

In this paper, we propose to augment image-based place recognition with structural cues. Specifically, these structural cues are obtained using structure-from-motion, such that no additional sensors are needed for place recognition. This is…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

2D image understanding is a complex problem within computer vision, but it holds the key to providing human-level scene comprehension. It goes further than identifying the objects in an image, and instead, it attempts to understand the…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…

We present an algorithm for extracting key-point descriptors using deep convolutional neural networks (CNN). Unlike many existing deep CNNs, our model computes local features around a given point in an image. We also present a face…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

Capturing long-range dependencies in feature representations is crucial for many visual recognition tasks. Despite recent successes of deep convolutional networks, it remains challenging to model non-local context relations between visual…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

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…

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…

Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…

The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods that re-order the…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Visual localization is considered to be one of the crucial parts in many robotic and vision systems. While state-of-the art methods that relies on feature matching have proven to be accurate for visual localization, its requirements for…