Learning Neural Volumetric Pose Features for Camera Localization

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose Regression (APR) architecture, together with an augmented NeRF module. This integration not only facilitates the generation of novel views to enrich the training dataset but also enables the learning of effective pose features. Additionally, we extend our architecture for self-supervised online alignment, allowing our method to be used and fine-tuned for unlabelled images within a unified framework. Experiments demonstrate that our method achieves 14.28% and 20.51% performance gain on average in indoor and outdoor benchmark scenes, outperforming existing APR methods with state-of-the-art accuracy.

Homography Loss for Monocular 3D Object Detection

Monocular 3D object detection is an essential task in autonomous driving. However, most current methods consider each 3D object in the scene as an independent training sample, while ignoring their inherent geometric relations, thus inevitably resulting in a lack of leveraging spatial constraints. In this paper, we propose a novel method that takes all the objects into consideration and explores their mutual relationships to help better estimate the 3D boxes. Moreover, since 2D detection is more reliable currently, we also investigate how to use the detected 2D boxes as guidance to globally constrain the optimization of the corresponding predicted 3D boxes. To this end, a differentiable loss function, termed as Homography Loss, is proposed to achieve the goal, which exploits both 2D and 3D information, aiming at balancing the positional relationships between different objects by global constraints, so as to obtain more accurately predicted 3D boxes. Thanks to the concise design, our loss function is universal and can be plugged into any mature monocular 3D detector, while significantly boosting the performance over their baseline. Experiments demonstrate that our method yields the best performance (Nov. 2021) compared with the other state-of-the-arts by a large margin on KITTI 3D datasets.

Enhance Images as You Like with Unpaired Learning

Low-light image enhancement exhibits an ill-posed nature, as a given image may have many enhanced versions, yet recent studies focus on building a deterministic mapping from input to an enhanced version. In contrast, we propose a lightweight one-path conditional generative adversarial network (cGAN) to learn a one-to-many relation from low-light to normal-light image space, given only sets of low- and normal-light training images without any correspondence. By formulating this ill-posed problem as a modulation code learning task, our network learns to generate a collection of enhanced images from a given input conditioned on various reference images. Therefore our inference model easily adapts to various user preferences, provided with a few favorable photos from each user. Our model achieves competitive visual and quantitative results on par with fully supervised methods on both noisy and clean datasets, while being 6 to 10 times lighter than state-of-the-art generative adversarial networks (GANs) approaches.