相关论文: TriDE: Triangle-Consistent Translation Directions …

Establishing dense correspondences between a pair of images is an important and general problem. However, dense flow estimation is often inaccurate in the case of large displacements or homogeneous regions. For most applications and…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Images are an important source of information for spacecraft navigation and for three-dimensional reconstruction of observed space objects. Both of these applications take the form of a triangulation problem when the camera has a known…

Unpaired image translation algorithms can be used for sim2real tasks, but many fail to generate temporally consistent results. We present a new approach that combines differentiable rendering with image translation to achieve temporal…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

Object pose estimation is a core computer vision problem and often an essential component in robotics. Pose estimation is usually approached by seeking the single best estimate of an object's pose, but this approach is ill-suited for tasks…

Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible…

3D detection based on surround-view camera system is a critical technique in autopilot. In this work, we present Polar Parametrization for 3D detection, which reformulates position parametrization, velocity decomposition, perception range,…

Existing approaches for multi-view multi-person 3D pose estimation explicitly establish cross-view correspondences to group 2D pose detections from multiple camera views and solve for the 3D pose estimation for each person. Establishing…

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this…

The vast increase in our ability to obtain and store trajectory data necessitates trajectory analytics techniques to extract useful information from this data. Pair-wise distance functions are a foundation building block for common…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

Traditional geometric registration based estimation methods only exploit the CAD model implicitly, which leads to their dependence on observation quality and deficiency to occlusion. To address the problem,the paper proposes a bidirectional…

Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…

With advances in optical sensor technology, heterogeneous camera systems are increasingly used for high-resolution (HR) video acquisition and analysis. However, motion transfer across multiple cameras poses challenges. To address this, we…

A self-driving car must be able to reliably handle adverse weather conditions (e.g., snowy) to operate safely. In this paper, we investigate the idea of turning sensor inputs (i.e., images) captured in an adverse condition into a benign one…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

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…

Existing 3D human pose estimation methods often suffer in performance, when applied to cross-scenario inference, due to domain shifts in characteristics such as camera viewpoint, position, posture, and body size. Among these factors, camera…