Related papers: Self-localization Using Visual Experience Across D…
In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting…
Visual object localization is the key step in a series of object detection tasks. In the literature, high localization accuracy is achieved with the mainstream strongly supervised frameworks. However, such methods require object-level…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
Language has been useful in extending the vision encoder to data from diverse distributions without empirical discovery in training domains. However, as the image description is mostly at coarse-grained level and ignores visual details, the…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…
This paper addresses cross-domain visual search, where visual queries retrieve category samples from a different domain. For example, we may want to sketch an airplane and retrieve photographs of airplanes. Despite considerable progress,…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…
Single-Domain Generalized Object Detection~(S-DGOD) aims to train an object detector on a single source domain while generalizing well to diverse unseen target domains, making it suitable for multimedia applications that involve various…
We are motivated by the fact that multiple representations of the environment are required to stand for the changes in appearance with time and for changes that appear in a cyclic manner. These changes are, for example, from day to night…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
In this paper, given a small bag of images, each containing a common but latent predicate, we are interested in localizing visual subject-object pairs connected via the common predicate in each of the images. We refer to this novel problem…
Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…