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

Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…

Image-based camera relocalization is an important problem in computer vision and robotics. Recent works utilize convolutional neural networks (CNNs) to regress for pixels in a query image their corresponding 3D world coordinates in the…

Feature matching is a necessary step for many computer vision and photogrammetry applications such as image registration, structure-from-motion, and visual localization. Classical handcrafted methods such as SIFT feature detection and…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Graph neural networks (GNNs) have been proposed for medical image segmentation, by predicting anatomical structures represented by graphs of vertices and edges. One such type of graph is predefined with fixed size and connectivity to…

Learning methods for relative camera pose estimation have been developed largely in isolation from classical geometric approaches. The question of how to integrate predictions from deep neural networks (DNNs) and solutions from geometric…

Cross-user variability poses a significant challenge in sensor-based Human Activity Recognition (HAR) systems, as traditional models struggle to generalize across users due to differences in behavior, sensor placement, and data…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

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…

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…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

Localizing objects and parts from natural language in 3D space is essential for robotics, AR, and embodied AI, yet existing methods face a trade-off between the accuracy and geometric consistency of per-scene optimization and the efficiency…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Being able to identify regions within or around proteins, to which ligands can potentially bind, is an essential step to develop new drugs. Binding site identification methods can now profit from the availability of large amounts of 3D…

Visual Place Recognition (VPR) aims to match query images against a database using visual cues. State-of-the-art methods aggregate features from deep backbones to form global descriptors. Optimal transport-based aggregation methods…

Zero-shot 3D anomaly detection aims to identify anomalies without access to training data from target categories. However, existing methods mainly rely on projecting 3D observations into multi-view representations that primarily capture…

Despite the dominance of convolutional and transformer-based architectures in image-to-image retrieval, these models are prone to biases arising from low-level visual features, such as color. Recognizing the lack of semantic understanding…

Image alignment tasks require accurate pixel correspondences, which are usually recovered by matching local feature descriptors. Such descriptors are often derived using supervised learning on existing datasets with ground truth…