相关论文: T-Graph: Enhancing Sparse-view Camera Pose Estimat…

Despite the advancements in deep learning for camera relocalization tasks, obtaining ground truth pose labels required for the training process remains a costly endeavor. While current weakly supervised methods excel in lightweight label…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy by ground-to-satellite image matching after a coarse…

Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…

Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…

We propose an accurate and interpretable fine-grained cross-view localization method that estimates the 3 Degrees of Freedom (DoF) pose of a ground-level image by matching its local features with a reference aerial image. Unlike prior…

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…

Cross-view Geo-localisation is typically performed at a coarse granularity, because densely sampled satellite image patches overlap heavily. This heavy overlap would make disambiguating patches very challenging. However, by opting for…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

We present the new release v2.0 of T-PHOT, a publicly available software package developed to perform PSF-matched, prior-based, multiwavelength deconfusion photometry of extragalactic fields. New features included in the code are presented…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Data collected by different modalities can provide a wealth of complementary information, such as hyperspectral image (HSI) to offer rich spectral-spatial properties, synthetic aperture radar (SAR) to provide structural information about…

Street-view imagery provides us with novel experiences to explore different places remotely. Carefully calibrated street-view images (e.g. Google Street View) can be used for different downstream tasks, e.g. navigation, map features…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…