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

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

We investigate the performance of image-based pose regressor models in underwater environments for relocalization. Leveraging PoseNet and PoseLSTM, we regress a 6-degree-of-freedom pose from single RGB images with high accuracy.…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

While monocular 3D pose estimation seems to have achieved very accurate results on the public datasets, their generalization ability is largely overlooked. In this work, we perform a systematic evaluation of the existing methods and find…

In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively…

One recent promising approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques using methods such as SRAL and multi-process fusion. These approaches come…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…

The image retrieval (IR) approach to image localization has distinct advantages to the 3D and the deep learning (DNN) approaches: it is seen-agnostic, simpler to implement and use, has no privacy issues, and is computationally efficient.…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely…

We propose an end-to-end architecture for joint 2D and 3D human pose estimation in natural images. Key to our approach is the generation and scoring of a number of pose proposals per image, which allows us to predict 2D and 3D poses of…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…