Papers Visual Localization
“Visual Localization” 태그가 달린 논문 494편 · 필터 해제
Adversarial Attacks on Robot Localization Systems via Deep Feature Perturbation
Robot localization systems are critical for autonomous navigation and safety. Adversarial perturbations can mislead these systems, resulting in mislocalization, navigation errors, or unsafe interactions, especially in mi…
Visual LocalizationiVGR: Internalizing Visually Grounded Reasoning for MLLMs with Reinforcement Learning
While visually grounded Chain-of-Thought (CoT) has emerged as a promising paradigm to enhance fine-grained perception in multimodal large language models (MLLMs), its efficacy during the inference phase remains underexpl…
Reinforcement LearningVisual LocalizationVisual GroundingMM-Conv: A Multimodal Dataset and Benchmark for Context-Aware Grounding in 3D Dialogue
Grounding language in the physical world requires AI systems to interpret references that emerge dynamically during conversation. While current vision-language models (VLMs) excel at static image tasks, they struggle to …
Visual LocalizationDepth2Pose: A Pose-Based Benchmark for Monocular Depth Estimation without Ground-Truth Depth
Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks su…
Monocular Depth EstimationCamera Pose EstimationVisual LocalizationEfficient Sparse-to-Dense Visual Localization via Compact Gaussian Scene Representation and Accelerated Dense Pose Estimation
This letter presents LiteLoc, a novel and efficient localizer built on 3D Gaussian Splatting (3DGS). The previous state-of-the-art (SoTA) sparse-to-dense localizer, STDLoc, has shown remarkable localization capability bu…
Visual LocalizationPose EstimationSeamCam: Quantifying Seamless Camouflage via Multi-Cue Visual Detectability
Animals are described as effectively camouflaged when they blend seamlessly with their surrounding, yet no standardized quantitative measure of this seamlessness exists. We address this gap by framing camouflage evaluati…
Visual LocalizationPoseCompass: Intelligent Synthetic Pose Selection for Visual Localization
In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D G…
Novel View SynthesisVisual LocalizationData AugmentationDisambiguating 2D-3D Correspondences in Gaussian Splatting-based Feature Fields for Visual Localization
While Gaussian Splatting-based Feature Fields (GSFFs) have shown promise for visual localization, this paper highlights that photometrically optimized GSFFs are inherently ill-suited for 2D-3D matching. The volumetric ex…
Visual LocalizationPose EstimationULF-Loc: Unbiased Landmark Feature for Robust Visual Localization with 3D Gaussian Splatting
Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with feature-based localization. These methods rely…
Visual LocalizationMSACT: Multistage Spatial Alignment for Stable Low-Latency Fine Manipulation
Real-world fine manipulation, particularly in bimanual manipulation, typically requires low-latency control and stable visual localization, while collecting large-scale data is costly and limited demonstrations may lead …
Visual LocalizationObject TrackingDepth-Guided Privacy-Preserving Visual Localization Using 3D Sphere Clouds
The emergence of deep neural networks capable of revealing high-fidelity scene details from sparse 3D point clouds has raised significant privacy concerns in visual localization involving private maps. Lifting map points…
Camera Pose EstimationVisual LocalizationPoint CloudsCOMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localization
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largely ignore this semantic information. To a…
Visual LocalizationRevisiting Geometric Obfuscation with Dual Convergent Lines for Privacy-Preserving Image Queries in Visual Localization
Privacy-Preserving Image Queries (PPIQ) are an emerging mechanism for cloud-based visual localization, enabling pose estimation from obfuscated features instead of private images or raw keypoints. However, the main appro…
Visual LocalizationPose EstimationContinual Hand-Eye Calibration for Open-world Robotic Manipulation
Hand-eye calibration through visual localization is a critical capability for robotic manipulation in open-world environments. However, most deep learning-based calibration models suffer from catastrophic forgetting when…
Visual LocalizationContinual LearningWhere Do Vision-Language Models Fail? World Scale Analysis for Image Geolocalization
Image geolocalization has traditionally been addressed through retrieval-based place recognition or geometry-based visual localization pipelines. Recent advances in Vision-Language Models (VLMs) have demonstrated strong …
Multimodal ReasoningVisual LocalizationImage MatchingSceneGlue: Scene-Aware Transformer for Feature Matching without Scene-Level Annotation
Local feature matching plays a critical role in understanding the correspondence between cross-view images. However, traditional methods are constrained by the inherent local nature of feature descriptors, limiting their…
Homography EstimationVisual LocalizationPose EstimationImage MatchingSeeing Through Touch: Tactile-Driven Visual Localization of Material Regions
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fai…
Visual LocalizationPrivacy-Preserving Structureless Visual Localization via Image Obfuscation
Visual localization is the task of estimating the camera pose of an image relative to a scene representation. In practice, visual localization systems are often cloud-based. Naturally, this raises privacy concerns in ter…
Visual LocalizationAsymLoc: Towards Asymmetric Feature Matching for Efficient Visual Localization
Precise and real-time visual localization is critical for applications like AR/VR and robotics, especially on resource-constrained edge devices such as smart glasses, where battery life and heat dissipation can be a prim…
Visual LocalizationLSGS-Loc: Towards Robust 3DGS-Based Visual Localization for Large-Scale UAV Scenarios
Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) ha…
Visual LocalizationPose Estimation