相关论文: MultiLoc: Multi-view Guided Relative Pose Regressi…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…

Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…

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…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Multi-camera dynamic Augmented Reality (AR) applications require a camera pose estimation to leverage individual information from each camera in one common system. This can be achieved by combining contextual information, such as markers or…

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…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

We present an approach to estimate 3D poses of multiple people from multiple camera views. In contrast to the previous efforts which require to establish cross-view correspondence based on noisy and incomplete 2D pose estimations, we…

With the spread of tampered images, locating the tampered regions in digital images has drawn increasing attention. The existing image tampering localization methods, however, suffer from severe performance degradation when the tampered…

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such…