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

While structure-based relocalizers have long strived for point correspondences when establishing or regressing query-map associations, in this paper, we pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera…

Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

Image geolocalization, the task of determining an image's geographic origin, poses significant challenges, largely due to visual similarities across disparate locations and the large search space. To address these issues, we propose a…

We present a joint 3D pose and focal length estimation approach for object categories in the wild. In contrast to previous methods that predict 3D poses independently of the focal length or assume a constant focal length, we explicitly…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…

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…

Visual geolocalization, the task of predicting where an image was taken, remains challenging due to global scale, visual ambiguity, and the inherently hierarchical structure of geography. Existing paradigms rely on either large-scale…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

Referring Remote Sensing Image Segmentation (RRSIS) is critical for ecological monitoring, urban planning, and disaster management, requiring precise segmentation of objects in remote sensing imagery guided by textual descriptions. This…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have advanced 3D reconstruction and novel view synthesis, but remain heavily dependent on accurate camera poses and dense viewpoint coverage. These requirements limit their…

In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…

Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent…

Worldwide image geolocalization-the task of predicting GPS coordinates from images taken anywhere on Earth-poses a fundamental challenge due to the vast diversity in visual content across regions. While recent approaches adopt a two-stage…

We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…