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

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesizing database images from unseen viewpoints using NeRF…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

As a specific semantic segmentation task, aerial imagery segmentation has been widely employed in high spatial resolution (HSR) remote sensing images understanding. Besides common issues (e.g. large scale variation) faced by general…

Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…

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…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

Cross-view localization classically asks: where does this ground image lie on the satellite tile? Existing methods are typically limited to 3-DoF estimates -- an $(x,y)$ position and a yaw angle -- because nadir satellite imagery provides…

With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…

In this work, we propose a cross-view learning approach, in which images captured from a ground-level view are used as weakly supervised annotations for interpreting overhead imagery. The outcome is a convolutional neural network for…

In this work, we address the problem of cross-view geo-localization, which estimates the geospatial location of a street view image by matching it with a database of geo-tagged aerial images. The cross-view matching task is extremely…

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…

Zero-shot classification of image scenes which can recognize the image scenes that are not seen in the training stage holds great promise of lowering the dependence on large numbers of labeled samples. To address the zero-shot image scene…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

Multi-image spatial reasoning remains challenging for current multimodal large language models (MLLMs). While single-view perception is inherently 2D, reasoning over multiple views requires building a coherent scene understanding across…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…