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Image-to-image translation for enhanced feature matching, image retrieval and visual localization
(2019)ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information SciencesThe performance of machine learning and deep learning algorithms for image analysis depends significantly on the quantity and quality of the training data. The generation of annotated training data is often costly, time-consuming and laborious. Data augmentation is a powerful option to overcome these drawbacks. Therefore, we augment training data by rendering images with arbitrary poses from 3D models to increase the quantity of training ...Conference Paper -
Semantic Visual Localization
(2018)2018 IEEE/CVF Conference on Computer Vision and Pattern RecognitionRobust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the context of life-long localization for augmented reality or autonomous robots. In this paper, we propose a novel approach based on a joint 3D geometric and semantic understanding of the world, enabling it ...Conference Paper -
InLoc: Indoor Visual Localization with Dense Matching and View Synthesis
(2018)2018 IEEE/CVF Conference on Computer Vision and Pattern RecognitionWe seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for indoor environments. The method proceeds along three steps: (i) efficient retrieval of candidate poses that ensures scalability to large-scale environments, (ii) pose estimation using dense matching ...Conference Paper -
Efficient 2D-3D Matching for Multi-Camera Visual Localization
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Real-Time Dense Mapping for Self-Driving Vehicles using Fisheye Cameras
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Night-to-Day Image Translation for Retrieval-based Localization
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Hybrid Scene Compression for Visual Localization
(2019)Proceedings of the 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019)Conference Paper -
Bad slam: Bundle adjusted direct RGB-D slam
(2019)Proceedings of the 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019)Conference Paper