相关论文: ViewBridge:Revisiting Cross-View Localization from…

Cross-view geolocalization (CVGL) systems, while effective at retrieving a list of relevant candidates (high Recall@k), often fail to identify the single best match (low Top-1 accuracy). This work investigates the use of zero-shot…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…

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…

Convolutional Neural Networks have reached extremely high performances on the Face Recognition task. Largely used datasets, such as VGGFace2, focus on gender, pose and age variations trying to balance them to achieve better results.…

We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric. Our pipeline's modular structure allows…

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…

With the recent success of visual features from deep convolutional neural networks (DCNN) in visual robot self-localization, it has become important and practical to address more general self-localization scenarios. In this paper, we…

Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…

Learning a good representation for space-time correspondence is the key for various computer vision tasks, including tracking object bounding boxes and performing video object pixel segmentation. To learn generalizable representation for…

The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view images to perform multi-round query refinement. In such a…

Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual grounding from aerial views. Compared to traditional VG, AerialVG…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Cross-modal Unsupervised Domain Adaptation (UDA) aims to exploit the complementarity of 2D-3D data to overcome the lack of annotation in a new domain. However, UDA methods rely on access to the target domain during training, meaning the…

The feature frame is a key idea of feature matching problem between two images. However, most of the traditional matching methods only simply employ the spatial location information (the coordinates), which ignores the shape and orientation…

In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…