相关论文: GeLoc3r: Enhancing Relative Camera Pose Regression…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

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…

Despite recent advances in feed-forward 3D Gaussian Splatting, generalizable 3D reconstruction remains challenging, particularly in multi-view correspondence modeling. Existing approaches face a fundamental trade-off: explicit methods…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

Dense matching methods like DUSt3R regress pairwise pointmaps for 3D reconstruction. However, the reliance on pairwise prediction and the limited generalization capability inherently restrict the global geometric consistency. In this work,…

The performance of human pose estimation depends on the spatial accuracy of keypoint localization. Most existing methods pursue the spatial accuracy through learning the high-resolution (HR) representation from input images. By the…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

Recent advances in feature learning have shown that self-supervised vision foundation models can capture semantic correspondences but often lack awareness of underlying 3D geometry. GECO addresses this gap by producing geometrically…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

Two-view correspondence pruning aims to identify reliable correspondences for camera pose estimation, serving as a fundamental step in many 3D vision tasks. Existing methods rely on geometric consistency to seek true correspondences…

Visual localization occupies an important position in many areas such as Augmented Reality, robotics and 3D reconstruction. The state-of-the-art visual localization methods perform pose estimation using geometry based solver within the…