相关论文: Loc$^2$: Interpretable Cross-View Localization via…

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this paper we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

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…

Cross-view image retrieval, particularly street-to-satellite matching, is a critical task for applications such as autonomous navigation, urban planning, and localization in GPS-denied environments. However, existing approaches often…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…

Visual correspondence is a crucial step in key computer vision tasks, including camera localization, image registration, and structure from motion. The most effective techniques for matching keypoints currently involve using learned sparse…

This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…

Cross-view geo-localization aims to spot images of the same location shot from two platforms, e.g., the drone platform and the satellite platform. Existing methods usually focus on optimizing the distance between one embedding with others…

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…

This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

The visual entities in cross-view images exhibit drastic domain changes due to the difference in viewpoints each set of images is captured from. Existing state-of-the-art methods address the problem by learning view-invariant descriptors…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

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…

In most modern object detection pipelines, the detection proposals are processed independently given the feature map. Therefore, they overlook the underlying relationships between objects and the surrounding background, which could have…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…