相关论文: Hi^2-GSLoc: Dual-Hierarchical Gaussian-Specific Vi…

This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…

3D Gaussian Splatting (3DGS) is a powerful reconstruction technique, but it needs to be initialized from accurate camera poses and high-fidelity point clouds. Typically, the initialization is taken from Structure-from-Motion (SfM)…

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…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…

Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions weaken the assumptions of traditional urban-centric…

3D Gaussian Splatting (3DGS) has made significant strides in real-time 3D scene reconstruction, but faces memory scalability issues in high-resolution scenarios. To address this, we propose Hierarchical Gaussian Splatting (HRGS), a…

We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

As generative models become increasingly capable of producing high-fidelity visual content, the demand for efficient, interpretable, and editable image representations has grown substantially. Recent advances in 2D Gaussian Splatting (2DGS)…

Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D models. Most advanced…

The online reconstruction of dynamic scenes from multi-view streaming videos faces significant challenges in training, rendering and storage efficiency. Harnessing superior learning speed and real-time rendering capabilities, 3D Gaussian…

We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…

We introduce GaussianOcc, a systematic method that investigates the two usages of Gaussian splatting for fully self-supervised and efficient 3D occupancy estimation in surround views. First, traditional methods for self-supervised 3D…

We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…

With the emergence of Gaussian Splats, recent efforts have focused on large-scale scene geometric reconstruction. However, most of these efforts either concentrate on memory reduction or spatial space division, neglecting information in the…

This paper addresses the problem of weakly supervised cross-view localization, where the goal is to estimate the pose of a ground camera relative to a satellite image with noisy ground truth annotations. A common approach to bridge the…

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…