Search Results for author: Torsten Sattler

Found 50 papers, 28 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.

Local Feature Matching Outlier Detection +2

CrowdDriven: A New Challenging Dataset for Outdoor Visual Localization

no code implementations9 Sep 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.

Self-Driving Cars Virtual Reality +1

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

1 code implementation1 Sep 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.

Structure from Motion

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

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

1 code implementation 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

no code implementations11 Mar 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 Structure from Motion

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 Structure from Motion +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 Image Retrieval +2

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

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.

Self-Driving Cars Structure from Motion

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

AdaLAM: Revisiting Handcrafted Outlier Detection

2 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.

Local Feature Matching Outlier Detection +2

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 Motion Estimation +2

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 Visual Localization

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 +4

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.

Semantic Segmentation

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

4 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 Style Generalization +1

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.

Robotics

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

Toroidal Constraints for Two-Point Localization Under High Outlier Ratios

no code implementations CVPR 2017 Federico Camposeco, Torsten Sattler, Andrea Cohen, Andreas Geiger, Marc Pollefeys

Adding the knowledge of direction of triangulation, we are able to approximate the position of the camera from two matches alone.

Pose Estimation

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

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

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.

Structure from Motion

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.

Structure from Motion

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