Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 1905.05425

Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors

Ruiqi Cheng·Kaiwei Wang·Shufei Lin·Weijian Hu·Kailun Yang·Xiao Huang·Huabing Li·Dongming Sun·Jian Bai
View original source ↗Read source document ↗Export metadata ↓

Abstract

Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and augmented reality. The challenging issues of the task lie in various appearance variations between query and database images, including illumination variations, dynamic object variations and viewpoint variations. In order to tackle those challenges, Panoramic Annular Localizer into which panoramic annular lens and robust deep image descriptors are incorporated is proposed in this paper. The panoramic annular images captured by the single camera are processed and fed into the NetVLAD network to form the active deep descriptor, and sequential matching is utilized to generate the localization result. The experiments carried on the public datasets and in the field illustrate the validation of the proposed system.

Explore related subjects

cs.CV

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Ruiqi Cheng, Kaiwei Wang, Shufei Lin, Weijian Hu, Kailun Yang, Xiao Huang, Huabing Li, Dongming Sun, Jian Bai. 2019-07-15. Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors. https://doi.org/10.1109/itsc.2019.8917508

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

PanoSeg3R: Feed-Forward 3D Semantic Segmentation for Panoramic Images with an Automatic Data Curation Pipeline

We present PanoSeg3R, a feed-forward framework for 3D panoramic semantic segmentation. Unlike existing methods designed for perspective inputs, PanoSeg3R jointly predicts 3D geometry and multi-view semantic segmentation in one single forward pass. Built upon a pretrained reconstruction backbone that supports panoramic images, our approach extends feed-forward 3D reconstruction with a query-based mask decoder. Furthermore, we introduce an automatic panorama data curation pipeline that leverages the complementary strengths of off-the-shelf foundation models to generate reliable pseudo semantic annotations, substantially expanding the training data and improving zero-shot generalization. PanoSeg3R achieves state-of-the-art performance on panoramic 3D semantic segmentation, improving 3D mIoU by up to 16.02 on ScanNet++, while the curated training data further improves zero-shot performance by up to 4.26 and 43.28 mIoU on Stanford2D3D and ToF-360, respectively. Website: https://harryyoon777.github.io/PanoSeg3R/

cs.CV↗
arXiv2026

Vision2CAD: A Visual Agent Harness for Explicit Geometry Referencing and Localization in Parametric CAD Modeling

Generating parametric CAD models requires accurate geometry and stable feature dependencies. Existing methods face challenges in selecting geometric references, interpreting sketch-plane local coordinates, and establishing sketch constraints to projected external geometry. We present Vision2CAD, a visual agent harness that combines vision-language model (VLM) reasoning with deterministic CAD kernel operations. An ID-based interface supports explicit geometry selection, a local-coordinate bridge converts view coordinates into sketch coordinates, and projected-edge localization supports external sketch constraints. These mechanisms establish feature dependencies within the supported modeling operations and constraint types. We also introduce the Geometry Explicit Reference Dataset (GERD), which aligned commands, geometry states and IDs at every modeling step. On GERD-EVL and a DeepCAD test subset, Vision2CAD improves mIoU by 11.1\% and 5.6\% and reduces Chamfer distance by 17.3\% and 41.8\%, respectively. Parameter-editing experiments and ablation studies further proved the preservation of parametric dependencies.

cs.CV↗
arXiv2026

DOA-SORT: Directional Occlusion-Aware Multi-Object Tracking with Distributional Observations

Identity association in multi-object tracking (MOT) is vulnerable to partial occlusion, truncated detections, and fluctuating confidence scores. Existing motion-dominant trackers commonly represent occlusion as a scalar penalty. This treatment misses the directional observation bias caused by occlusion: left, right, top, and bottom occlusions distort the location and shape of a detection in different ways. We propose \ours{} (Directional Occlusion-Aware SORT), an online and training-free tracker that models these biases explicitly. First, it infers a soft front--back ordering from box overlap and relative bottom positions, and estimates directional occlusion coverage and depth. It then constructs a mixture of one clean and four directional occlusion observation components. The model uses a five-dimensional observation comprising box center, area, confidence, and aspect ratio, and adapts observation noise to predicted occlusion and detection confidence. The directional mixture likelihood is used in high-confidence association, low-confidence association, and track recovery; ambiguity penalties and local order-consistency swaps further reduce identity errors among nearby objects. On the DanceTrack validation split, \ours{} improves HOTA from 63.00 to 66.34, AssA from 45.10 to 49.57, and IDF1 from 62.19 to 65.28 over OA-SORT with the same detector and evaluation protocol. The gains are concentrated in association quality while detection accuracy remains stable. Additional local evaluations on MOT17 and MOT20 train splits characterize cross-dataset behavior under the same no-ReID tracking protocol.

cs.CV↗