mlsanityData to 7 Oct 2026

Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System

arXiv 1809.05477 ↗First posted 14 Sep 2018cs.ROcited by 34

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Abstract (arXiv)

Project AutoVision aims to develop localization and 3D scene perception capabilities for a self-driving vehicle. Such capabilities will enable autonomous navigation in urban and rural environments, in day and night, and with cameras as the only exteroceptive sensors. The sensor suite employs many cameras for both 360-degree coverage and accurate multi-view stereo; the use of low-cost cameras keeps the cost of this sensor suite to a minimum. In addition, the project seeks to extend the operating envelope to include GNSS-less conditions which are typical for environments with tall buildings, foliage, and tunnels. Emphasis is placed on leveraging multi-view geometry and deep learning to enable the vehicle to localize and perceive in 3D space. This paper presents an overview of the project, and describes the sensor suite and current progress in the areas of calibration, localization, and perception.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Sep 2018.

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Citing papers per year: 2021: 3; 2022: 6; 2023: 8; 2024: 8; 2025: 5; 2026: 4.

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  1. 2021On the Limits of Pseudo Ground Truth in Visual Camera Re-localisationcited by 63
  2. 2022MeshLoc: Mesh-Based Visual Localizationcited by 62
  3. 2023R3D3: Dense 3D Reconstruction of Dynamic Scenes from Multiple Camerascited by 39
  4. 2024The NeRFect Match: Exploring NeRF Features for Visual Localizationcited by 32
  5. 2024SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphscited by 29
  6. 2022Investigating the Role of Image Retrieval for Visual Localization -- An exhaustive benchmarkcited by 27
  7. 2023Visual Localization using Imperfect 3D Models from the Internetcited by 20
  8. 2021How Privacy-Preserving are Line Clouds? Recovering Scene Details from 3D Linescited by 19
  9. 2023FocusTune: Tuning Visual Localization through Focus-Guided Samplingcited by 16
  10. 2024GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localizationcited by 15
  11. 2023Affine Correspondences between Multi-Camera Systems for Relative Pose Estimationcited by 13
  12. 2022Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensorscited by 10
22 more
  1. 2025Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localizationcited by 10
  2. 2025A Guide to Structureless Visual Localizationcited by 9
  3. 2021City-scale Scene Change Detection using Point Cloudscited by 7
  4. 2023Privacy-Preserving Representations are not Enough -- Recovering Scene Content from Camera Posescited by 7
  5. 2024Self-supervised Learning of Neural Implicit Feature Fields for Camera Pose Refinementcited by 5
  6. 2025GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representationscited by 5
  7. 2023A Critical Analysis of Internal Reliability for Uncertainty Quantification of Dense Image Matching in Multi-view Stereocited by 4
  8. 2022Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraintcited by 3
  9. 2024Combining Absolute and Semi-Generalized Relative Poses for Visual Localizationcited by 3
  10. 2024Scalable and Generalizable Correspondence Pruning via Geometry-Consistent Pre-trainingcited by 2
  11. 2022Constrained Bundle Adjustment for Structure From Motion Using Uncalibrated Multi-Camera Systemscited by 1
  12. 2022Semantic keypoint extraction for scanned animals using multi-depth-camera systemscited by 1
  13. 2025Globally Optimal Solution to the Generalized Relative Pose Estimation Problem using Affine Correspondencescited by 1
  14. 2026Dense Dynamic Scene Reconstruction and Camera Pose Estimation from Multi-View Videoscited by 1
  15. 2026A Pose-only Geometric Constraint for Multi-Camera Pose Adjustmentcited by 1
  16. 2023Object Detection During Newborn Resuscitation Activitiescited by 0
  17. 2023Robust Localization with Visual-Inertial Odometry Constraints for Markerless Mobile ARcited by 0
  18. 2024Relative Pose for Nonrigid Multi-Perspective Cameras: The Static Casecited by 0
  19. 2024Camera-Based Localization and Enhanced Normalized Mutual Informationcited by 0
  20. 2025MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motioncited by 0
  21. 2026Single-Eye View: Monocular Real-time Perception Package for Autonomous Drivingcited by 0
  22. 2026Detecting Trojaned DNNs via Spectral Regression Analysiscited by 0