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Unconstrained Matching of 2D and 3D Descriptors for 6-DOF Pose Estimation [article]

Uzair Nadeem, Mohammed Bennamoun, Roberto Togneri, Ferdous Sohel
2020 arXiv   pre-print
Experimental results demonstrate that direct matching of feature descriptors from images and point clouds is not only a viable idea but can also be reliably used to estimate the 6-DOF poses of query cameras  ...  We use this concept to directly localize images in a 3D point cloud.  ...  direct matching of 2D and 3D descriptors to localize camera pose with 6-DOF in dense 3D point clouds.  ... 
arXiv:2005.14502v1 fatcat:abxlt3xlrza7tkw7zaeojgmbbm

Automatic video to point cloud registration in a structure-from-motion framework

Esteban Vidal, Nicola Piotto, Giovanni Cordara, Francisco Moran Burgos
2015 2015 IEEE International Conference on Image Processing (ICIP)  
In this work we propose a fast technique to reliably integrate local but dense information from videos into existing global but sparse 3D models.  ...  The proposed technique has been tested against two state-of-the-art SfM algorithms, showing significant improvements in terms of computational time and final point cloud density.  ...  RELATED WORK Automatic registration of video streams into sparse point cloud aims at recovering the six-Degree-of-Freedom (6-DoF) pose of each video frame of a moving camera with respect to a given 3D  ... 
doi:10.1109/icip.2015.7351282 dblp:conf/icip/VidalPCB15 fatcat:yymd76bisbaw5jxhcf2w74exme

Sparse-to-Dense Hypercolumn Matching for Long-Term Visual Localization

Hugo Germain, Guillaume Bourmaud, Vincent Lepetit
2019 2019 International Conference on 3D Vision (3DV)  
We propose a novel approach to feature point matching, suitable for robust and accurate outdoor visual localization in long-term scenarios.  ...  Because we know the 3D locations of the sparse feature points in the reference images thanks to an offline reconstruction stage, it is then possible to accurately estimate the camera pose from these matches  ...  The authors would also like to warmly thank the authors of the benchmark [58] for providing support with the evaluation tools.  ... 
doi:10.1109/3dv.2019.00063 dblp:conf/3dim/GermainBL19 fatcat:wts72o7nfbakjehg2q4qqcuvzu

ARtwin: Map pivot format specification

Nam Duong Duong, Jérôme Royan, Michal Polic, Nischita Sudharsan
2020 Zenodo  
ARtwin project: A report specifying the pivot format of the map that will be used to develop the services provided by the ARtwin platform.  ...  This project has received funding from the European Union's Horizon 2020 Framework Programme for research and Innovation under Grant Agreement no 856994.  ...  A dense point cloud is generally build from direct SLAM methods [6] - [15] . By using a depth sensor, a dense point cloud is created from depth maps.  ... 
doi:10.5281/zenodo.4381408 fatcat:pn2ioshymfcrrkbuhxg72kr7zy

CloudVision: DNN-based Visual Localization of Autonomous Robots using Prebuilt LiDAR Point Cloud [article]

Evgeny Yudin, Pavel Karpyshev, Mikhail Kurenkov, Alena Savinykh, Andrei Potapov, Evgeny Kruzhkov, Dzmitry Tsetserukou
2022 arXiv   pre-print
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera.  ...  The features extracted from the camera images are compared with the points of the 3D map, and then the geometric optimization problem is being solved to achieve precise visual localization.  ...  ACKNOWLEDGEMENTS The reported study was funded by CNRS and RFBR according to the research project No. 21-58-15006.  ... 
arXiv:2209.01605v1 fatcat:rlprjwjnl5fhpge5paedmqw4hi

Experimental Verification of a Walking Robot Self-Localization System with the Kinect Sensor

Michal Nowicki, Piotr Skrzypczynski
2013 Journal of Automation, Mobile Robotics & Intelligent Systems  
As an alter-na�ve, a �eature-based method �or matching o� �� range data is considered, using the Normal Aligned Radial Feature (NARF) descriptors.  ...  Then, it is shown that NARFs can be used to compute a good ini�al es�mate �or the ��� algorithm, resul�ng in convergent es�ma�on o� the sensor egomo�on. ��perimental results are provided.  ...  In an unstructured environment, lacking such features like long �lat walls, point clouds yielded by a 3D laser scanner can be used for self-localization with regard to 6-DOF [18] , but a 3D laser scanner  ... 
doi:10.14313/jamris_4-2013/43 fatcat:kr2kql4qszaexhmp32u3cvp4me

Visual Reconstruction and Localization based Robust Robotic 6-DoF Grasping in the Wild

Ji Liang, Jiguang Zhang, Bingbing Pan, Shibiao Xu, Guangheng Zhao, Ge Yu, Xiaopeng Zhang
2021 IEEE Access  
Then, constrained by the above initial localization, a 3D point cloud reconstruction based 6-DoF pose estimation method is proposed for the manipulator further fine locating grasping target.  ...  Due to low perception ability in handing targets and environments, most industrial robots are limited to top-down 4-DoF grasping.  ...  [16] proposed 3DFeat-Net, which utilizes alignment and attention mechanism to learn the feature descriptors of 3D point clouds from GPS / INS markers, and then uses 3D-3D matching to estimate the 6D  ... 
doi:10.1109/access.2021.3079245 fatcat:oyisfxi22zdfzi3ljrl7chorfa

Non-iterative SLAM

Chen Wang, Junsong Yuan, Lihua Xie
2017 2017 18th International Conference on Advanced Robotics (ICAR)  
First, the attitude and heading reference system (AHRS) and axonometric projection are utilized to decouple the 6 Degree-of-Freedom (DoF) data, so that point clouds can be matched in independent spaces  ...  The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor.  ...  Point Clouds Reprojection 1) 6 DoF to 3 DoF: A point cloud is a set of data points with 6 DoF µ(x, y, z, α, β, φ) in a three-dimensional coordinate system.  ... 
doi:10.1109/icar.2017.8023500 dblp:conf/icar/WangYX17 fatcat:njpab4hl5vfphbdw2fbc7xn4e4

The Relocalization of SLAM Tracking Based on Spherical Cameras

Qingling Chang, Qiang Liu, Xin Yang, Huang Yajiang, Fei Ren, Yan Cui
2021 IEEE Access  
feature points of panoramic image, we propose a network based on a separate network to extract local feature accurately and quickly.  ...  In the imaging method, we design a new camera containing eight fish-eye lenses, and then we propose a calibration method to calibrate the eight fish-eye lenses spherical camera; To get the high-performance  ...  INTRODUCTION Camera relocalization refers to estimate the 6-DoF (Degree of Freedom) camera pose from an image with respect to a known environment.  ... 
doi:10.1109/access.2021.3130928 fatcat:h4smnbzp5jd73puy3cpuipaamm

VPAIR – Aerial Visual Place Recognition and Localization in Large-scale Outdoor Environments [article]

Michael Schleiss, Fahmi Rouatbi, Daniel Cremers
2022 arXiv   pre-print
Each image is paired with a high resolution reference render including dense depth information and 6-DoF reference poses.  ...  Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios.  ...  Given a set of 2D-3D point correspondences it estimates a 6-DoF pose by minimizing the reprojection error in the camera plane. Our VL pipeline works as follows.  ... 
arXiv:2205.11567v1 fatcat:bvzar6ocgfhqvhj3mgrarj7nyu

Evaluation of 3D Feature Descriptors for Multi-modal Data Registration

Hansung Kim, Adrian Hilton
2013 2013 International Conference on 3D Vision  
and registered to a unified 3D domain with other datasets in a 3D world.  ...  This analysis highlights the limitations of existing 3D feature detectors and descriptors which need to be addressed for robust multi-modal data registration.  ...  They registered 2D images to dense point cloud from range scanners by reconstructing sparse point cloud using a SfM method. 3D lines and circular feature matching were used for registration.  ... 
doi:10.1109/3dv.2013.24 dblp:conf/3dim/KimH13 fatcat:zhp3puad7rdpxaitgzfkvr2ueq

A survey on Visual-Based Localization: On the benefit of heterogeneous data

Nathan Piasco, Désiré Sidibé, Cédric Demonceaux, Valérie Gouet-Brunet
2018 Pattern Recognition  
From these multiple sources, numerous data could be extracted: set of images, 3D model, coloured points cloud... When classical localization devices failed (e.g.  ...  As the localization environment is almost always dynamic, we pay special attention to methods designed to handle appearances changes occurring in a scene.  ...  Acknowledgements We would like to acknowledge the French ANR project pLaTINUM (ANR-15-CE23-0010) for its financial support.  ... 
doi:10.1016/j.patcog.2017.09.013 fatcat:adelbfkxgfd3xik6f7fubv32mu

Localize Me Anywhere, Anytime: A Multi-task Point-Retrieval Approach

Guoyu Lu, Yan Yan, Li Ren, Jingkuan Song, Nicu Sebe, Chandra Kambhamettu
2015 2015 IEEE International Conference on Computer Vision (ICCV)  
More specifically, we use multi-task point retrieval framework to explore the relationship between descriptors and the 3D points, which extracts the discriminant points for more accurate 3D-to-3D correspondences  ...  in order to get to a higher point retrieval accuracy.  ...  ) by MTL, Embedded Fern [6], Scalable 6-DoF [18], Random Forest codebook[2], Direct 2D-to-3D [22].  ... 
doi:10.1109/iccv.2015.280 dblp:conf/iccv/LuYRSSK15 fatcat:5be64fqtgbgndcesr62kv7ruki

Learning Structural Graph Layouts and 3D Shapes for Long Span Bridges 3D Reconstruction [article]

Fangqiao Hu, Jin Zhao, Yong Huang, Hui Li
2020 arXiv   pre-print
A learning-based 3D reconstruction method for long-span bridges is proposed in this paper. 3D reconstruction generates a 3D computer model of a real object or scene from images, it involves many stages  ...  Existing point-based methods focus on generating 3D point clouds and their reconstructed polygonal mesh or fitting-based geometrical models in urban scenes civil structures reconstruction within Manhattan  ...  r z , d x , d y ) to an image along its local y (front) direction.  ... 
arXiv:1907.03387v2 fatcat:4nd5pdnxp5e2pjbu7b5wsxq26e

A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks [article]

Baichuan Huang, Jun Zhao, Jingbin Liu
2020 arXiv   pre-print
It's very friendly for new researchers to hold the development of SLAM and learn it very obviously.  ...  Also, the paper can be considered as a dictionary for experienced researchers to search and find new interesting orientation.  ...  X-View [221] leverages semantic graph descriptor matching for global localization, enabling localization under drastically different view-points.  ... 
arXiv:1909.05214v4 fatcat:itnluvkewfd6fel7x65wdgig3e
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