Papers Visual Localization
“Visual Localization” 태그가 달린 논문 494편 · 필터 해제
Why Not Replace? Sustaining Long-Term Visual Localization via Handcrafted-Learned Feature Collaboration on CPU
Robust long-term visual localization in complex industrial environments is critical for mobile robotic systems. Existing approaches face limitations: handcrafted features are illumination-sensitive, learned features are …
CPUKeypoint DetectionPose EstimationVisual LocalizationTo Glue or Not to Glue? Classical vs Learned Image Matching for Mobile Mapping Cameras to Textured Semantic 3D Building Models
Feature matching is a necessary step for many computer vision and photogrammetry applications such as image registration, structure-from-motion, and visual localization. Classical handcrafted methods such as SIFT feature…
Image RegistrationVisual LocalizationLiftFeat: 3D Geometry-Aware Local Feature Matching
Robust and efficient local feature matching plays a crucial role in applications such as SLAM and visual localization for robotics. Despite great progress, it is still very challenging to extract robust and discriminativ…
3D geometryDepth EstimationHomography EstimationMonocular Depth Estimation+2SafeNav: Safe Path Navigation using Landmark Based Localization in a GPS-denied Environment
In battlefield environments, adversaries frequently disrupt GPS signals, requiring alternative localization and navigation methods. Traditional vision-based approaches like Simultaneous Localization and Mapping (SLAM) an…
Sensor FusionSimultaneous Localization and MappingVisual LocalizationVisual OdometryGSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting
In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to render a synthetic RGBD image at some initia…
3DGSNeRFTranslationVisual LocalizationVisual Re-Ranking with Non-Visual Side Information
The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods…
Graph Neural NetworkImage RetrievalIndoor LocalizationRe-Ranking+3Re-thinking Temporal Search for Long-Form Video Understanding
Efficient understanding of long-form videos remains a significant challenge in computer vision. In this work, we revisit temporal search paradigms for long-form video understanding, studying a fundamental issue pertainin…
Computational EfficiencyFormVideo UnderstandingVisual LocalizationLiM-Loc: Visual Localization with Dense and Accurate 3D Reference Maps Directly Corresponding 2D Keypoints to 3D LiDAR Point Clouds
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in ad…
3D ReconstructionCamera Pose EstimationPose EstimationVisual LocalizationScene-agnostic Pose Regression for Visual Localization
Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval …
Image RetrievalMambaregressionVisual Localization+1Selecting and Pruning: A Differentiable Causal Sequentialized State-Space Model for Two-View Correspondence Learning
Two-view correspondence learning aims to discern true and false correspondences between image pairs by recognizing their underlying different information. Previous methods either treat the information equally or require …
MambaPose EstimationVisual LocalizationLightLoc: Learning Outdoor LiDAR Localization at Light Speed
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 impracti…
Autonomous DrivingregressionVisual LocalizationA-SCoRe: Attention-based Scene Coordinate Regression for wide-ranging scenarios
Visual localization is considered to be one of the crucial parts in many robotic and vision systems. While state-of-the art methods that relies on feature matching have proven to be accurate for visual localization, its …
regressionVisual LocalizationMulti-Platform Teach-and-Repeat Navigation by Visual Place Recognition Based on Deep-Learned Local Features
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-an…
Robot NavigationVisual LocalizationVisual Place RecognitionExploring the best way for UAV visual localization under Low-altitude Multi-view Observation Condition: a Benchmark
Absolute Visual Localization (AVL) enables Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. Whi…
Image RetrievalRetrievalVisual LocalizationNeuraLoc: Visual Localization in Neural Implicit Map with Dual Complementary Features
Recently, neural radiance fields (NeRF) have gained significant attention in the field of visual localization. However, existing NeRF-based approaches either lack geometric constraints or require extensive storage for fe…
NeRFPose EstimationVisual LocalizationImage-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments
Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with…
Image SegmentationManagementSemantic SegmentationVisual Localization+1Geometry-Constrained Monocular Scale Estimation Using Semantic Segmentation for Dynamic Scenes
Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visu…
Autonomous DrivingComputational EfficiencyMonocular Visual OdometryMotion Estimation+3EVLoc: Event-based Visual Localization in LiDAR Maps via Event-Depth Registration
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion a…
Camera Pose EstimationOptical Flow EstimationPose EstimationVisual LocalizationA2-GNN: Angle-Annular GNN for Visual Descriptor-free Camera Relocalization
Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D model…
Camera RelocalizationGraph Neural NetworkVisual LocalizationMegaLoc: One Retrieval to Place Them All
Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. …
3D ReconstructionAllRetrievalVisual Localization+1