no code implementations • 27 Mar 2024 • Changkun Liu, Huajian Huang, Zhengyang Ma, Tristan Braud
State-of-the-art (SOTA) hierarchical localisation pipelines (HLoc) rely on image retrieval (IR) techniques to establish 2D-3D correspondences by selecting the $k$ most similar images from a reference image database for a given query image.
1 code implementation • 22 Feb 2024 • Changkun Liu, Shuai Chen, Yukun Zhao, Huajian Huang, Victor Prisacariu, Tristan Braud
In addition, we take advantage of the uncertainty for pose refinement to enhance the performance of APR.
no code implementations • 21 Jan 2024 • Changkun Liu, Yukun Zhao, Tristan Braud
To address APR accuracy and reduce VIO drift, MobileARLoc creates a feedback loop where VIO pose estimations refine the APR predictions.
no code implementations • 29 Nov 2023 • Huajian Huang, Changkun Liu, Yipeng Zhu, Hui Cheng, Tristan Braud, Sai-Kit Yeung
We propose a virtual camera approach to generate lower-FoV query frames from 360$^\circ$ images, which ensures a fair comparison of performance among different query types in visual localization tasks.
no code implementations • 20 Oct 2023 • Ze Gao, Xiang Li, Changkun Liu, Xian Wang, Anqi Wang, Liang Yang, Yuyang Wang, Pan Hui, Tristan Braud
We present VR PreM+, an innovative VR system designed to enhance web exploration beyond traditional computer screens.
no code implementations • 10 Aug 2023 • Changkun Liu, Yukun Zhao, Tristan Braud
However, APR methods tend to yield significant inaccuracies for input images that are too distant from the training set.
no code implementations • 10 Aug 2023 • Changkun Liu, Yukun Zhao, Tristan Braud
However, VIO only tracks the relative pose of the device, leading to drift over time.