Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localization

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference capabilities. However, existing methods struggle to either generalize well to new scenes or provide accurate camera pose estimates. To address these issues, we present \textbf{Reloc3r}, a simple yet effective visual localization framework. It consists of an elegantly designed relative pose regression network, and a minimalist motion averaging module for absolute pose estimation. Trained on approximately 8 million posed image pairs, Reloc3r achieves surprisingly good performance and generalization ability. We conduct extensive experiments on 6 public datasets, consistently demonstrating the effectiveness and efficiency of the proposed method. It provides high-quality camera pose estimates in real time and generalizes to novel scenes. Code, weights, and data at: \url{https://github.com/ffrivera0/reloc3r}.

AlphaTablets: A Generic Plane Representation for 3D Planar Reconstruction from Monocular Videos

We introduce AlphaTablets, a novel and generic representation of 3D planes that features continuous 3D surface and precise boundary delineation. By representing 3D planes as rectangles with alpha channels, AlphaTablets combine the advantages of current 2D and 3D plane representations, enabling accurate, consistent and flexible modeling of 3D planes. We derive differentiable rasterization on top of AlphaTablets to efficiently render 3D planes into images, and propose a novel bottom-up pipeline for 3D planar reconstruction from monocular videos. Starting with 2D superpixels and geometric cues from pre-trained models, we initialize 3D planes as AlphaTablets and optimize them via differentiable rendering. An effective merging scheme is introduced to facilitate the growth and refinement of AlphaTablets. Through iterative optimization and merging, we reconstruct complete and accurate 3D planes with solid surfaces and clear boundaries. Extensive experiments on the ScanNet dataset demonstrate state-of-the-art performance in 3D planar reconstruction, underscoring the great potential of AlphaTablets as a generic 3D plane representation for various applications. Project page is available at: https://hyzcluster.github.io/alphatablets

Robust Incremental Structure-from-Motion with Hybrid Features

Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios. In particular, weakly textured scenes and poorly constrained configurations oftentimes cause catastrophic failures or large errors for the primarily keypoint-based pipelines. In these scenarios, line segments are often abundant and can offer complementary geometric constraints. Their large spatial extent and typically structured configurations lead to stronger geometric constraints as compared to traditional keypoint-based methods. In this work, we introduce an incremental SfM system that, in addition to points, leverages lines and their structured geometric relations. Our technical contributions span the entire pipeline (mapping, triangulation, registration) and we integrate these into a comprehensive end-to-end SfM system that we share as an open-source software with the community. We also present the first analytical method to propagate uncertainties for 3D optimized lines via sensitivity analysis. Experiments show that our system is consistently more robust and accurate compared to the widely used point-based state of the art in SfM -- achieving richer maps and more precise camera registrations, especially under challenging conditions. In addition, our uncertainty-aware localization module alone is able to consistently improve over the state of the art under both point-alone and hybrid setups.

A Unified Approach for Learning the Dynamics of Power System Generators and Inverter-based Resources

The growing prevalence of inverter-based resources (IBRs) for renewable energy integration and electrification greatly challenges power system dynamic analysis. To account for both synchronous generators (SGs) and IBRs, this work presents an approach for learning the model of an individual dynamic component. The recurrent neural network (RNN) model is used to match the recursive structure in predicting the key dynamical states of a component from its terminal bus voltage and set-point input. To deal with the fast transients especially due to IBRs, we develop a Stable Integral (SI-)RNN to mimic high-order integral methods that can enhance the stability and accuracy for the dynamic learning task. We demonstrate that the proposed SI-RNN model not only can successfully predict the component's dynamic behaviors, but also offers the possibility of efficiently computing the dynamic sensitivity relative to a set-point change. These capabilities have been numerically validated based on full-order Electromagnetic Transient (EMT) simulations on a small test system with both SGs and IBRs, particularly for predicting the dynamics of grid-forming inverters.

3D Neural Edge Reconstruction

Real-world objects and environments are predominantly composed of edge features, including straight lines and curves. Such edges are crucial elements for various applications, such as CAD modeling, surface meshing, lane mapping, etc. However, existing traditional methods only prioritize lines over curves for simplicity in geometric modeling. To this end, we introduce EMAP, a new method for learning 3D edge representations with a focus on both lines and curves. Our method implicitly encodes 3D edge distance and direction in Unsigned Distance Functions (UDF) from multi-view edge maps. On top of this neural representation, we propose an edge extraction algorithm that robustly abstracts parametric 3D edges from the inferred edge points and their directions. Comprehensive evaluations demonstrate that our method achieves better 3D edge reconstruction on multiple challenging datasets. We further show that our learned UDF field enhances neural surface reconstruction by capturing more details.

NeRF in Robotics: A Survey

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: \textit{The Application of NeRF in Robotics} and \textit{The Advance of NeRF in Robotics}, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference.

SC-HVPPNet: Spatial and Channel Hybrid-Attention Video Post-Processing Network with CNN and Transformer

Convolutional Neural Network (CNN) and Transformer have attracted much attention recently for video post-processing (VPP). However, the interaction between CNN and Transformer in existing VPP methods is not fully explored, leading to inefficient communication between the local and global extracted features. In this paper, we explore the interaction between CNN and Transformer in the task of VPP, and propose a novel Spatial and Channel Hybrid-Attention Video Post-Processing Network (SC-HVPPNet), which can cooperatively exploit the image priors in both spatial and channel domains. Specifically, in the spatial domain, a novel spatial attention fusion module is designed, in which two attention weights are generated to fuse the local and global representations collaboratively. In the channel domain, a novel channel attention fusion module is developed, which can blend the deep representations at the channel dimension dynamically. Extensive experiments show that SC-HVPPNet notably boosts video restoration quality, with average bitrate savings of 5.29%, 12.42%, and 13.09% for Y, U, and V components in the VTM-11.0-NNVC RA configuration.

Deep Network for Image Compressed Sensing Coding Using Local Structural Sampling

Existing image compressed sensing (CS) coding frameworks usually solve an inverse problem based on measurement coding and optimization-based image reconstruction, which still exist the following two challenges: 1) The widely used random sampling matrix, such as the Gaussian Random Matrix (GRM), usually leads to low measurement coding efficiency. 2) The optimization-based reconstruction methods generally maintain a much higher computational complexity. In this paper, we propose a new CNN based image CS coding framework using local structural sampling (dubbed CSCNet) that includes three functional modules: local structural sampling, measurement coding and Laplacian pyramid reconstruction. In the proposed framework, instead of GRM, a new local structural sampling matrix is first developed, which is able to enhance the correlation between the measurements through a local perceptual sampling strategy. Besides, the designed local structural sampling matrix can be jointly optimized with the other functional modules during training process. After sampling, the measurements with high correlations are produced, which are then coded into final bitstreams by the third-party image codec. At last, a Laplacian pyramid reconstruction network is proposed to efficiently recover the target image from the measurement domain to the image domain. Extensive experimental results demonstrate that the proposed scheme outperforms the existing state-of-the-art CS coding methods, while maintaining fast computational speed.

Depth-agnostic Single Image Dehazing

Single image dehazing is a challenging ill-posed problem. Existing datasets for training deep learning-based methods can be generated by hand-crafted or synthetic schemes. However, the former often suffers from small scales, while the latter forces models to learn scene depth instead of haze distribution, decreasing their dehazing ability. To overcome the problem, we propose a simple yet novel synthetic method to decouple the relationship between haze density and scene depth, by which a depth-agnostic dataset (DA-HAZE) is generated. Meanwhile, a Global Shuffle Strategy (GSS) is proposed for generating differently scaled datasets, thereby enhancing the generalization ability of the model. Extensive experiments indicate that models trained on DA-HAZE achieve significant improvements on real-world benchmarks, with less discrepancy between SOTS and DA-SOTS (the test set of DA-HAZE). Additionally, Depth-agnostic dehazing is a more complicated task because of the lack of depth prior. Therefore, an efficient architecture with stronger feature modeling ability and fewer computational costs is necessary. We revisit the U-Net-based architectures for dehazing, in which dedicatedly designed blocks are incorporated. However, the performances of blocks are constrained by limited feature fusion methods. To this end, we propose a Convolutional Skip Connection (CSC) module, allowing vanilla feature fusion methods to achieve promising results with minimal costs. Extensive experimental results demonstrate that current state-of-the-art methods. equipped with CSC can achieve better performance and reasonable computational expense, whether the haze distribution is relevant to the scene depth.

CLiF-VQA: Enhancing Video Quality Assessment by Incorporating High-Level Semantic Information related to Human Feelings

Video Quality Assessment (VQA) aims to simulate the process of perceiving video quality by the human visual system (HVS). The judgments made by HVS are always influenced by human subjective feelings. However, most of the current VQA research focuses on capturing various distortions in the spatial and temporal domains of videos, while ignoring the impact of human feelings. In this paper, we propose CLiF-VQA, which considers both features related to human feelings and spatial features of videos. In order to effectively extract features related to human feelings from videos, we explore the consistency between CLIP and human feelings in video perception for the first time. Specifically, we design multiple objective and subjective descriptions closely related to human feelings as prompts. Further we propose a novel CLIP-based semantic feature extractor (SFE) which extracts features related to human feelings by sliding over multiple regions of the video frame. In addition, we further capture the low-level-aware features of the video through a spatial feature extraction module. The two different features are then aggregated thereby obtaining the quality score of the video. Extensive experiments show that the proposed CLiF-VQA exhibits excellent performance on several VQA datasets.