Papers Camera Localization
“Camera Localization” 태그가 달린 논문 130편 · 필터 해제
Prior Guided Dropout for Robust Visual Localization in Dynamic Environments
Camera localization from monocular images has been a long-standing problem, but its robustness in dynamic environments is still not adequately addressed. Compared with classic geometric approaches, modern CNN-based metho…
Camera LocalizationUncertainty QuantificationVisual LocalizationAtLoc: Attention Guided Camera Localization
Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by se…
Camera LocalizationVisual LocalizationExpert Sample Consensus Applied to Camera Re-Localization
Fitting model parameters to a set of noisy data points is a common problem in computer vision. In this work, we fit the 6D camera pose to a set of noisy correspondences between the 2D input image and a known 3D environme…
Camera LocalizationMixture-of-ExpertsVisual LocalizationEnforceNet: Monocular Camera Localization in Large Scale Indoor Sparse LiDAR Point Cloud
Pose estimation is a fundamental building block for robotic applications such as autonomous vehicles, UAV, and large scale augmented reality. It is also a prohibitive factor for those applications to be in mass productio…
Autonomous VehiclesCamera LocalizationPose EstimationPlace recognition in gardens by learning visual representations: data set and benchmark analysis
Visual place recognition is an important component of systems for camera localization and loop closure detection. It concerns the recognition of a previously visited place based on visual cues only. Although it is a wide…
Camera LocalizationImage DescriptionLoop Closure DetectionVisual Localization+1CMRNet: Camera to LiDAR-Map Registration
In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet…
Camera LocalizationDirect Image to Point Cloud Descriptors Matching for 6-DOF Camera Localization in Dense 3D Point Cloud
We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of …
Camera LocalizationPose EstimationPanoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors
Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive nav…
Autonomous VehiclesCamera LocalizationOutdoor LocalizationVisual LocalizationNeural-Guided RANSAC: Learning Where to Sample Model Hypotheses
We present Neural-Guided RANSAC (NG-RANSAC), an extension to the classic RANSAC algorithm from robust optimization. NG-RANSAC uses prior information to improve model hypothesis search, increasing the chance of finding ou…
Camera LocalizationHorizon Line EstimationVisual LocalizationA Generative Map for Image-based Camera Localization
In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. R…
Camera LocalizationregressionVisual LocalizationVisual OdometryJoint Spatial and Layer Attention for Convolutional Networks
In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of t…
Camera LocalizationClassificationGeneral ClassificationScene ClassificationReal-Time Monocular Object-Model Aware Sparse SLAM
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the o…
Camera LocalizationmodelObjectobject-detection+3Monocular Object and Plane SLAM in Structured Environments
In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature …
Camera LocalizationObjectSimultaneous Localization and MappingVision-based Pose Estimation for Augmented Reality : A Comparison Study
Augmented reality aims to enrich our real world by inserting 3D virtual objects. In order to accomplish this goal, it is important that virtual elements are rendered and aligned in the real scene in an accurate and visua…
3D Pose EstimationCamera LocalizationGeneral ClassificationPose EstimationCamera Pose Estimation With Unknown Principal Point
To estimate the 6-DoF extrinsic pose of a pinhole camera with partially unknown intrinsic parameters is a critical sub-problem in structure-from-motion and camera localization. In most of existing camera pose estimation …
Camera LocalizationCamera Pose EstimationPose EstimationStructure Aware SLAM using Quadrics and Planes
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other ha…
Camera LocalizationObjectobject-detectionObject Detection+1REST: Real-to-Synthetic Transform for Illumination Invariant Camera Localization
Accurate camera localization is an essential part of tracking systems. However, localization results are greatly affected by illumination. Including data collected under various lighting conditions can improve the robust…
Camera LocalizationLatent RANSAC
We present a method that can evaluate a RANSAC hypothesis in constant time, i.e. independent of the size of the data. A key observation here is that correct hypotheses are tightly clustered together in the latent paramet…
3D Face Alignment3D Plane DetectionCamera LocalizationHomography Estimation+2Geometry-Aware Learning of Maps for Camera Localization
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 afte…
Camera LocalizationVisual LocalizationLearning Less is More - 6D Camera Localization via 3D Surface Regression
Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB imag…
Camera LocalizationregressionVisual Localization