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Despite the recent successes of deep neural networks, it remains challenging to achieve high precision keyword spotting task (KWS) on resource-constrained devices. In this study, we propose a novel context-aware and compact architecture for…
High time complexity is one of the biggest challenges faced by $k$-Nearest Neighbors ($k$NN). Although current classical and quantum $k$NN algorithms have made some improvements, they still have a speed bottleneck when facing large amounts…
Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…
We present a new approach for the approximate K-nearest neighbor search based on navigable small world graphs with controllable hierarchy (Hierarchical NSW, HNSW). The proposed solution is fully graph-based, without any need for additional…
The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…
This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…
As a fundamental task for intelligent robots, visual SLAM has made great progress over the past decades. However, robust SLAM under highly weak-textured environments still remains very challenging. In this paper, we propose a novel visual…
Moving objects can greatly jeopardize the performance of a visual simultaneous localization and mapping (vSLAM) system which relies on the static-world assumption. Motion removal have seen successful on solving this problem. Two main…
Approximate nearest neighbor search (ANNS) constitutes an important operation in a multitude of applications, including recommendation systems, information retrieval, and pattern recognition. In the past decade, graph-based ANNS algorithms…
Similarity search approaches based on graph walks have recently attained outstanding speed-accuracy trade-offs, taking aside the memory requirements. In this paper, we revisit these approaches by considering, additionally, the memory…
Approximate nearest neighbor (ANN) search in high-dimensional Euclidean space has a broad range of applications. Among existing ANN algorithms, graph-based methods have shown superior performance in terms of the time-accuracy trade-off.…
In this article, we propose a new fast nearest neighbor search algorithm, based on vector quantization. Like many other branch and bound search algorithms [1,10], a preprocessing recursively partitions the data set into disjointed subsets…
Neural implicit representations have shown remarkable abilities in jointly modeling geometry, color, and camera poses in simultaneous localization and mapping (SLAM). Current methods use coordinates, positional encodings, or other geometry…
Vector search, the task of finding the k-nearest neighbors of a query vector against a database of high-dimensional vectors, underpins many machine learning applications, including retrieval-augmented generation, recommendation systems, and…
This paper presents a new framework for visual bag-of-words (BOW) refinement and reduction to overcome the drawbacks associated with the visual BOW model which has been widely used for image classification. Although very influential in the…
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
Information retrieval lies at the foundation of the modern digital industry. While natural language search has seen dramatic progress in recent years largely driven by embedding-based models and large-scale pretraining, the field still…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…