相关论文: GeoDistill: Geometry-Guided Self-Distillation for …

Visual localization is one of the most important components for robotics and autonomous driving. Recently, inspiring results have been shown with CNN-based methods which provide a direct formulation to end-to-end regress 6-DoF absolute…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

Visual Geo-localization (VG) refers to the process to identify the location described in query images, which is widely applied in robotics field and computer vision tasks, such as autonomous driving, metaverse, augmented reality, and SLAM.…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

Robust cross-view 3-DoF localization in GPS-denied, off-road environments remains challenging due to (1) perceptual ambiguities from repetitive vegetation and unstructured terrain, and (2) seasonal shifts that significantly alter scene…

Extrapolative novel view synthesis can reduce camera-rig dependency in autonomous driving by generating standardized virtual views from heterogeneous sensors. Existing methods degrade outside recorded trajectories because extrapolated poses…

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…

Real-world object detection models should be cheap and accurate. Knowledge distillation (KD) can boost the accuracy of a small, cheap detection model by leveraging useful information from a larger teacher model. However, a key challenge is…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

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…

Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of…

Transformers recently are adapted from the community of natural language processing as a promising substitute of convolution-based neural networks for visual learning tasks. However, its supremacy degenerates given an insufficient amount of…

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…

Accurately determining the geographic location where a single image was taken, visual geolocation, remains a formidable challenge due to the planet's vastness and the deceptive similarity among distant locations. We introduce GeoLocSFT, a…

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep…

Knowledge Distillation (KD) has been validated as an effective model compression technique for learning compact object detectors. Existing state-of-the-art KD methods for object detection are mostly based on feature imitation. In this…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

3D scene generation is a core technology for gaming, film/VFX, and VR/AR. Growing demand for rapid iteration, high-fidelity detail, and accessible content creation has further increased interest in this area. Existing methods broadly follow…