Search Results for author: Torsten Sattler

Found 67 papers, 41 papers with code

Handcrafted Outlier Detection Revisited

1 code implementation ECCV 2020 Luca Cavalli, Viktor Larsson, Martin Ralf Oswald, Torsten Sattler, Marc Pollefeys

As a result, outlier detection is a fundamental problem in computer vision and a wide range of approaches, from simple checks based on descriptor similarity to geometric verification, have been proposed over the last decades.

Outlier Detection Visual Localization

Mip-Splatting: Alias-free 3D Gaussian Splatting

1 code implementation27 Nov 2023 Zehao Yu, Anpei Chen, Binbin Huang, Torsten Sattler, Andreas Geiger

Recently, 3D Gaussian Splatting has demonstrated impressive novel view synthesis results, reaching high fidelity and efficiency.

Novel View Synthesis

Privacy-Preserving Representations are not Enough -- Recovering Scene Content from Camera Poses

1 code implementation8 May 2023 Kunal Chelani, Torsten Sattler, Fredrik Kahl, Zuzana Kukelova

In this paper, we show that an attacker can learn about details of a scene without any access by simply querying a localization service.

Privacy Preserving Visual Localization

Tetra-NeRF: Representing Neural Radiance Fields Using Tetrahedra

1 code implementation ICCV 2023 Jonas Kulhanek, Torsten Sattler

A popular scene representation used by NeRFs is to combine a uniform, voxel-based subdivision of the scene with an MLP.

3D Reconstruction Novel View Synthesis

Visual Localization using Imperfect 3D Models from the Internet

1 code implementation CVPR 2023 Vojtech Panek, Zuzana Kukelova, Torsten Sattler

An interesting, and underexplored, source of data for building scene representations are 3D models that are readily available on the Internet, e. g., hand-drawn CAD models, 3D models generated from building footprints, or from aerial images.

Visual Localization

Relative pose of three calibrated and partially calibrated cameras from four points using virtual correspondences

no code implementations28 Mar 2023 Charalambos Tzamos, Daniel Barath, Torsten Sattler, Zuzana Kukelova

Our solutions are based on the simple idea of generating one or two additional virtual point correspondences in two views by using the information from the locations of the four input correspondences in the three views.

SegLoc: Learning Segmentation-Based Representations for Privacy-Preserving Visual Localization

no code implementations CVPR 2023 Maxime Pietrantoni, Martin Humenberger, Torsten Sattler, Gabriela Csurka

Inspired by properties of semantic segmentation, in this paper we investigate how to leverage robust image segmentation in the context of privacy-preserving visual localization.

Image Segmentation Pose Estimation +4

Partially calibrated semi-generalized pose from hybrid point correspondences

no code implementations29 Sep 2022 Snehal Bhayani, Viktor Larsson, Torsten Sattler, Janne Heikkila, Zuzana Kukelova

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i. e., the pose of a perspective camera with unknown focal length w. r. t.

MeshLoc: Mesh-Based Visual Localization

1 code implementation21 Jul 2022 Vojtech Panek, Zuzana Kukelova, Torsten Sattler

In this work, we thus explore a more flexible alternative based on dense 3D meshes that does not require features matching between database images to build the scene representation.

Neural Rendering Pose Estimation +1

MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstruction

1 code implementation1 Jun 2022 Zehao Yu, Songyou Peng, Michael Niemeyer, Torsten Sattler, Andreas Geiger

Motivated by recent advances in the area of monocular geometry prediction, we systematically explore the utility these cues provide for improving neural implicit surface reconstruction.

3D Reconstruction Multi-View 3D Reconstruction +1

Investigating the Role of Image Retrieval for Visual Localization -- An exhaustive benchmark

1 code implementation31 May 2022 Martin Humenberger, Yohann Cabon, Noé Pion, Philippe Weinzaepfel, Donghwan Lee, Nicolas Guérin, Torsten Sattler, Gabriela Csurka

In order to investigate the consequences for visual localization, this paper focuses on understanding the role of image retrieval for multiple visual localization paradigms.

Autonomous Driving Image Retrieval +3

Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motion

no code implementations5 May 2022 Vladimir Guzov, Julian Chibane, Riccardo Marin, Yannan He, Yunus Saracoglu, Torsten Sattler, Gerard Pons-Moll

In order for widespread adoption of such emerging applications, the sensor setup used to capture the interactions needs to be inexpensive and easy-to-use for non-expert users.

Human-Object Interaction Detection Object +2

Deep Visual Geo-localization Benchmark

1 code implementation CVPR 2022 Gabriele Berton, Riccardo Mereu, Gabriele Trivigno, Carlo Masone, Gabriela Csurka, Torsten Sattler, Barbara Caputo

In this paper, we propose a new open-source benchmarking framework for Visual Geo-localization (VG) that allows to build, train, and test a wide range of commonly used architectures, with the flexibility to change individual components of a geo-localization pipeline.

Benchmarking Data Augmentation

ViewFormer: NeRF-free Neural Rendering from Few Images Using Transformers

1 code implementation18 Mar 2022 Jonáš Kulhánek, Erik Derner, Torsten Sattler, Robert Babuška

We propose a 2D-only method that maps multiple context views and a query pose to a new image in a single pass of a neural network.

Neural Rendering Novel View Synthesis +1

CrowdDriven: A New Challenging Dataset for Outdoor Visual Localization

no code implementations ICCV 2021 Ara Jafarzadeh, Manuel Lopez Antequera, Pau Gargallo, Yubin Kuang, Carl Toft, Fredrik Kahl, Torsten Sattler

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene.

Benchmarking Self-Driving Cars +1

On the Limits of Pseudo Ground Truth in Visual Camera Re-localisation

1 code implementation ICCV 2021 Eric Brachmann, Martin Humenberger, Carsten Rother, Torsten Sattler

This begs the question whether the choice of the reference algorithm favours a certain family of re-localisation methods.

Human POSEitioning System (HPS): 3D Human Pose Estimation and Self-localization in Large Scenes from Body-Mounted Sensors

1 code implementation CVPR 2021 Vladimir Guzov, Aymen Mir, Torsten Sattler, Gerard Pons-Moll

We introduce (HPS) Human POSEitioning System, a method to recover the full 3D pose of a human registered with a 3D scan of the surrounding environment using wearable sensors.

3D Human Pose Estimation 3D Pose Estimation +1

Back to the Feature: Learning Robust Camera Localization from Pixels to Pose

2 code implementations CVPR 2021 Paul-Edouard Sarlin, Ajaykumar Unagar, Måns Larsson, Hugo Germain, Carl Toft, Viktor Larsson, Marc Pollefeys, Vincent Lepetit, Lars Hammarstrand, Fredrik Kahl, Torsten Sattler

In this paper, we go Back to the Feature: we argue that deep networks should focus on learning robust and invariant visual features, while the geometric estimation should be left to principled algorithms.

Camera Localization Metric Learning +1

Calibrated and Partially Calibrated Semi-Generalized Homographies

1 code implementation ICCV 2021 Snehal Bhayani, Torsten Sattler, Daniel Barath, Patrik Beliansky, Janne Heikkila, Zuzana Kukelova

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera.

Image-Based Localization

How Privacy-Preserving are Line Clouds? Recovering Scene Details from 3D Lines

1 code implementation CVPR 2021 Kunal Chelani, Fredrik Kahl, Torsten Sattler

To address the resulting potential privacy risks for user-generated content, it was recently proposed to lift point clouds to line clouds by replacing 3D points by randomly oriented 3D lines passing through these points.

Pose Estimation Privacy Preserving +2

Patch2Pix: Epipolar-Guided Pixel-Level Correspondences

1 code implementation CVPR 2021 Qunjie Zhou, Torsten Sattler, Laura Leal-Taixe

In this work, we propose a new perspective to estimate correspondences in a detect-to-refine manner, where we first predict patch-level match proposals and then refine them.

Homography Estimation Visual Localization

Benchmarking Image Retrieval for Visual Localization

1 code implementation24 Nov 2020 Noé Pion, Martin Humenberger, Gabriela Csurka, Yohann Cabon, Torsten Sattler

This paper focuses on understanding the role of image retrieval for multiple visual localization tasks.

Autonomous Driving Benchmarking +4

P1AC: Revisiting Absolute Pose From a Single Affine Correspondence

1 code implementation ICCV 2023 Jonathan Ventura, Zuzana Kukelova, Torsten Sattler, Dániel Baráth

We introduce the first general solution to the problem of estimating the pose of a calibrated camera given a single observation of an oriented point and an affine correspondence.

Image-Based Localization Pose Estimation

Single-Image Depth Prediction Makes Feature Matching Easier

1 code implementation21 Aug 2020 Carl Toft, Daniyar Turmukhambetov, Torsten Sattler, Fredrik Kahl, Gabriel Brostow

Good local features improve the robustness of many 3D re-localization and multi-view reconstruction pipelines.

Depth Estimation Depth Prediction

Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes

1 code implementation ECCV 2020 Johanna Wald, Torsten Sattler, Stuart Golodetz, Tommaso Cavallari, Federico Tombari

In this paper, we adapt 3RScan - a recently introduced indoor RGB-D dataset designed for object instance re-localization - to create RIO10, a new long-term camera re-localization benchmark focused on indoor scenes.

Camera Relocalization

Infrastructure-based Multi-Camera Calibration using Radial Projections

1 code implementation ECCV 2020 Yukai Lin, Viktor Larsson, Marcel Geppert, Zuzana Kukelova, Marc Pollefeys, Torsten Sattler

In particular, our approach is more robust than the naive approach of first estimating intrinsic parameters and pose per camera before refining the extrinsic parameters of the system.

Camera Calibration Self-Driving Cars +1

Making Affine Correspondences Work in Camera Geometry Computation

1 code implementation ECCV 2020 Daniel Barath, Michal Polic, Wolfgang Förstner, Torsten Sattler, Tomas Pajdla, Zuzana Kukelova

The main advantage of such solvers is that their sample size is smaller, e. g., only two instead of four matches are required to estimate a homography.

Homography Estimation valid

AdaLAM: Revisiting Handcrafted Outlier Detection

3 code implementations7 Jun 2020 Luca Cavalli, Viktor Larsson, Martin Ralf Oswald, Torsten Sattler, Marc Pollefeys

Local feature matching is a critical component of many computer vision pipelines, including among others Structure-from-Motion, SLAM, and Visual Localization.

Key Point Matching Outlier Detection +1

Self-Supervised Linear Motion Deblurring

1 code implementation10 Feb 2020 Peidong Liu, Joel Janai, Marc Pollefeys, Torsten Sattler, Andreas Geiger

Motion blurry images challenge many computer vision algorithms, e. g, feature detection, motion estimation, or object recognition.

Deblurring Image Deblurring +4

Fine-Grained Segmentation Networks: Self-Supervised Segmentation for Improved Long-Term Visual Localization

1 code implementation18 Aug 2019 Måns Larsson, Erik Stenborg, Carl Toft, Lars Hammarstrand, Torsten Sattler, Fredrik Kahl

In this paper, we propose a new neural network, the Fine-Grained Segmentation Network (FGSN), that can be used to provide image segmentations with a larger number of labels and can be trained in a self-supervised fashion.

Autonomous Driving Segmentation +1

To Learn or Not to Learn: Visual Localization from Essential Matrices

1 code implementation4 Aug 2019 Qunjie Zhou, Torsten Sattler, Marc Pollefeys, Laura Leal-Taixe

Using a classical feature-based approach within this framework, we show state-of-the-art performance.

Mixed Reality Pose Estimation +2

Understanding the Limitations of CNN-based Absolute Camera Pose Regression

1 code implementation CVPR 2019 Torsten Sattler, Qunjie Zhou, Marc Pollefeys, Laura Leal-Taixe

We furthermore use our model to show that pose regression is more closely related to pose approximation via image retrieval than to accurate pose estimation via 3D structure.

Image Retrieval Mixed Reality +5

A Cross-Season Correspondence Dataset for Robust Semantic Segmentation

1 code implementation16 Mar 2019 Måns Larsson, Erik Stenborg, Lars Hammarstrand, Torsten Sattler, Mark Pollefeys, Fredrik Kahl

We show that adding the correspondences as extra supervision during training improves the segmentation performance of the convolutional neural network, making it more robust to seasonal changes and weather conditions.

Segmentation Semantic Segmentation

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

5 code implementations4 Mar 2019 Antoni Rosinol, Torsten Sattler, Marc Pollefeys, Luca Carlone

We propose instead to tightly couple mesh regularization and state estimation by detecting and enforcing structural regularities in a novel factor-graph formulation.

3D Reconstruction Simultaneous Localization and Mapping

RNN-based Generative Model for Fine-Grained Sketching

no code implementations13 Jan 2019 Andrin Jenal, Nikolay Savinov, Torsten Sattler, Gaurav Chaurasia

Through quantitative and perceptual experiments, we show that our model outperforms previous work and that our dataset is a valuable benchmark for generative models.

SurfelMeshing: Online Surfel-Based Mesh Reconstruction

1 code implementation1 Oct 2018 Thomas Schöps, Torsten Sattler, Marc Pollefeys

In contrast to most existing approaches, we do not fuse depth measurements in a volume but in a dense surfel cloud.

Night-to-Day Image Translation for Retrieval-based Localization

1 code implementation26 Sep 2018 Asha Anoosheh, Torsten Sattler, Radu Timofte, Marc Pollefeys, Luc van Gool

We then compare the daytime and translated night images to obtain a pose estimate for the night image using the known 6-DOF position of the closest day image.

Image Retrieval Position +4

Efficient 2D-3D Matching for Multi-Camera Visual Localization

no code implementations17 Sep 2018 Marcel Geppert, Peidong Liu, Zhaopeng Cui, Marc Pollefeys, Torsten Sattler

This results in a system that provides reliable and drift-less pose estimations for high speed autonomous driving.


Semantic Match Consistency for Long-Term Visual Localization

no code implementations ECCV 2018 Carl Toft, Erik Stenborg, Lars Hammarstrand, Lucas Brynte, Marc Pollefeys, Torsten Sattler, Fredrik Kahl

Robust and accurate visual localization across large appearance variations due to changes in time of day, seasons, or changes of the environment is a challenging problem which is of importance to application areas such as navigation of autonomous robots.

Visual Localization

Hybrid Scene Compression for Visual Localization

no code implementations CVPR 2019 Federico Camposeco, Andrea Cohen, Marc Pollefeys, Torsten Sattler

Besides outperforming previous compression techniques in terms of pose accuracy under the same memory constraints, our compression scheme itself is also more efficient.

Quantization Self-Driving Cars +1

Semantic Visual Localization

no code implementations CVPR 2018 Johannes L. Schönberger, Marc Pollefeys, Andreas Geiger, Torsten Sattler

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision.

Visual Localization

Comparative Evaluation of Hand-Crafted and Learned Local Features

1 code implementation Conference on Computer Vision and Pattern Recognition 2017 Johannes L. Sch¨onberger, Hans Hardmeier, Torsten Sattler, Marc Pollefeys

In terms of matching performance, we evaluate the different descriptors regarding standard criteria. However, considering matching performance in isolation only provides an incomplete measure of a descriptor’s quality.

Image Retrieval Retrieval

Large-Scale Location Recognition and the Geometric Burstiness Problem

1 code implementation CVPR 2016 Torsten Sattler, Michal Havlena, Konrad Schindler, Marc Pollefeys

Visual location recognition is the task of determining the place depicted in a query image from a given database of geo-tagged images.

Image Retrieval Re-Ranking +1

Merging the Unmatchable: Stitching Visually Disconnected SfM Models

no code implementations ICCV 2015 Andrea Cohen, Torsten Sattler, Marc Pollefeys

An important variant of this problem is the case in which individual sides of a building can be reconstructed but not joined due to the missing visual overlap.

Non-Parametric Structure-Based Calibration of Radially Symmetric Cameras

no code implementations ICCV 2015 Federico Camposeco, Torsten Sattler, Marc Pollefeys

As a second step, we obtain the calibration by finding the translation of the camera center using an ordering constraint.


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