相关论文: PIDLoc: Cross-View Pose Optimization Network Inspi…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy relative measurements between poses. The algorithm, called…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…

Given the rising urban population and the consequential rise in traffic congestion, the implementation of smart parking systems has emerged as a critical matter of concern. Smart parking solutions use cameras, sensors, and algorithms like…

Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth…

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

Accurate extrinsic calibration between LiDAR and camera sensors is important for reliable perception in autonomous systems. In this paper, we present a novel multi-objective optimization framework that jointly minimizes the geometric…

Human pose estimation in complicated situations has always been a challenging task. Many Transformer-based pose networks have been proposed recently, achieving encouraging progress in improving performance. However, the remarkable…

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…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…

We develop a Learning Direct Optimization (LiDO) method for the refinement of a latent variable model that describes input image x. Our goal is to explain a single image x with an interpretable 3D computer graphics model having scene graph…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…