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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…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…
Robotic and animal mapping systems share many of the same objectives and challenges, but differ in one key aspect: where much of the research in robotic mapping has focused on solving the data association problem, the grid cell neurons…
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…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
An appearance-based robot self-localization problem is considered in the machine learning framework. The appearance space is composed of all possible images, which can be captured by a robot's visual system under all robot localizations.…
In the study of high-dimensional data, it is often assumed that the data set possesses an underlying lower-dimensional structure. A practical model for this structure is an embedded compact manifold with boundary. Since the underlying…
We present a novel locality-based learning method for cleaning and solving optical motion capture data. Given noisy marker data, we propose a new heterogeneous graph neural network which treats markers and joints as different types of…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…
Image Classification based on BOW (Bag-of-words) has broad application prospect in pattern recognition field but the shortcomings are existed because of single feature and low classification accuracy. To this end we combine three…
Many image understanding tasks involve identifying what is present and where it appears. However, tasks that address where, such as object discovery, detection, and segmentation, are often considerably more complex than image…
In this paper we propose a novel method for image matching based on dense local features and tailored for visual geolocalization. Dense local features matching is robust against changes in illumination and occlusions, but not against…
Visual learning problems such as object classification and action recognition are typically approached using extensions of the popular bag-of-words (BoW) model. Despite its great success, it is unclear what visual features the BoW model is…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
The local descriptors have gained wide range of attention due to their enhanced discriminative abilities. It has been proved that the consideration of multi-scale local neighborhood improves the performance of the descriptor, though at the…
Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…
The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…
Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…