相关论文: Dense Match Summarization for Faster Two-view Esti…

In this paper, we present a framework for computing dense keypoint correspondences between images under strong scene appearance changes. Traditional methods, based on nearest neighbour search in the feature descriptor space, perform poorly…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

Dense image matching aims to find a correspondent for every pixel of a source image in a partially overlapping target image. State-of-the-art methods typically rely on a coarse-to-fine mechanism where a single correspondent hypothesis is…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…

Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…

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…

Establishing robust and accurate correspondences is a fundamental backbone to many computer vision algorithms. While recent learning-based feature matching methods have shown promising results in providing robust correspondences under…

Image matching is a fundamental and critical task of multisource remote sensing image applications. However, remote sensing images are susceptible to various noises. Accordingly, how to effectively achieve accurate matching in noise images…

Reciprocal recommender systems (RRSs) are crucial in online two-sided matching platforms, such as online job or dating markets, as they need to consider the preferences of both sides of the match. The concentration of recommendations to a…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

We review the most recent RANSAC-like hypothesize-and-verify robust estimators. The best performing ones are combined to create a state-of-the-art version of the Universal Sample Consensus (USAC) algorithm. A recent objective is to…