Related papers: An Efficient Index for Visual Search in Appearance…
Approximate nearest neighbor (ANN) search in high dimensions is an integral part of several computer vision systems and gains importance in deep learning with explicit memory representations. Since PQT, FAISS, and SONG started to leverage…
Approximate Nearest Neighbor Search (ANNS) is the task of finding the database vector that is closest to a given query vector. Graph-based ANNS is the family of methods with the best balance of accuracy and speed for million-scale datasets.…
Approximate K-Nearest Neighbor Search (AKNNS) has now become ubiquitous in modern applications, for example, as a fast search procedure with two tower deep learning models. Graph-based methods for AKNNS in particular have received great…
In this paper, two semi-supervised appearance based loop closure detection technique, HGCN-FABMAP and HGCN-BoW are introduced. Furthermore an extension to the current state of the art localization SLAM algorithm, ORB-SLAM, is presented. The…
In this paper, we introduce AE-FABMAP, a new self-supervised bag of words-based SLAM method. We also present AE-ORB-SLAM, a modified version of the current state of the art BoW-based path planning algorithm. That is, we have used a deep…
We propose a technique to improve the search efficiency of the bag-of-words (BoW) method for image retrieval. We introduce a notion of difficulty for the image matching problems and propose methods that reduce the amount of computations…
As the state-of-the-art methods for high-dimensional data retrieval, Approximate Nearest Neighbor Search (ANNS) approaches with graph-based indexes have attracted increasing attention and play a crucial role in many real-world applications,…
This paper introduces an improved reranking method for the Bag-of-Words (BoW) based image search. Built on [1], a directed image graph robust to outlier distraction is proposed. In our approach, the relevance among images is encoded in the…
Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…
Approximate nearest neighbor search (ANNS) is a fundamental problem in databases and data mining. A scalable ANNS algorithm should be both memory-efficient and fast. Some early graph-based approaches have shown attractive theoretical…
A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…
We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Visual loop closure detection, which can be considered as an image retrieval task, is an important problem in SLAM (Simultaneous Localization and Mapping) systems. The frequently used bag-of-words (BoW) models can achieve high precision and…
The problem of landmark recognition has achieved excellent results in small-scale datasets. When dealing with large-scale retrieval, issues that were irrelevant with small amount of data, quickly become fundamental for an efficient…
Graph Neural Architecture Search (GNAS) has shown promising results in finding the best graph neural network architecture on a given graph dataset. However, existing GNAS methods still require intensive human labor and rich domain knowledge…
A local map module is often implemented in modern VO/VSLAM systems to improve data association and pose estimation. Conventionally, the local map contents are determined by co-visibility. While co-visibility is cheap to establish, it…
Approximate nearest neighbor search (ANNS) is a fundamental problem in vector databases and AI infrastructures. Recent graph-based ANNS algorithms have achieved high search accuracy with practical efficiency. Despite the advancements, these…
Nearest Neighbor Search (NNS) has recently drawn a rapid increase of interest due to its core role in managing high-dimensional vector data in data science and AI applications. The interest is fueled by the success of neural embedding,…
A new class of applications based on visual search engines are emerging, especially on smart-phones that have evolved into powerful tools for processing images and videos. The state-of-the-art algorithms for large visual content recognition…