相关论文: PlanaReLoc: Camera Relocalization in 3D Planar Pri…

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 PlanarRecon -- a novel framework for globally coherent detection and reconstruction of 3D planes from a posed monocular video. Unlike previous works that detect planes in 2D from a single image, PlanarRecon incrementally detects…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

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…

Thermal cameras capture environmental data through heat emission, a fundamentally different mechanism compared to visible light cameras, which rely on pinhole imaging. As a result, traditional visual relocalization methods designed for…

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…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

We built our pipeline EgoLoc-v1, mainly inspired by EgoLoc. We propose a model ensemble strategy to improve the camera pose estimation part of the VQ3D task, which has been proven to be essential in previous work. The core idea is not only…

We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…

Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization, i.e.,…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

Pose regression networks predict the camera pose of a query image relative to a known environment. Within this family of methods, absolute pose regression (APR) has recently shown promising accuracy in the range of a few centimeters in…

Visual geolocalization is a cost-effective and scalable task that involves matching one or more query images, taken at some unknown location, to a set of geo-tagged reference images. Existing methods, devoted to semantic features…

We propose an accurate and interpretable fine-grained cross-view localization method that estimates the 3 Degrees of Freedom (DoF) pose of a ground-level image by matching its local features with a reference aerial image. Unlike prior…