Related papers: Localization Recall Precision (LRP): A New Perform…

Contrastive language-image pretraining (CLIP) using image-text pairs has achieved impressive results on image classification in both zero-shot and transfer learning settings. However, we show that directly applying such models to recognize…

Laser absorption spectroscopy (LAS) quantification is a popular tool used in measuring temperature and concentration of gases. It has low error tolerance, whereas current ML-based solutions cannot guarantee their measure reliability. In…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…

Verification and regression are two general methodologies for prediction in neural networks. Each has its own strengths: verification can be easier to infer accurately, and regression is more efficient and applicable to continuous target…

Visual Place Recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map of geo-tagged reference images. In this work, we look into…

This paper seeks to bridge the two major algorithmic approaches to sparse signal recovery from an incomplete set of linear measurements -- L_1-minimization methods and iterative methods (Matching Pursuits). We find a simple regularized…

Object-oriented reinforcement learning (OORL) is a promising way to improve the sample efficiency and generalization ability over standard RL. Recent works that try to solve OORL tasks without additional feature engineering mainly focus on…

In this work, we first tackle the problem of simultaneous pixel-level localization and image-level classification with only image-level labels for fully convolutional network training. We investigate the global pooling method which plays a…

The accuracy of object detectors and trackers is most commonly evaluated by the Intersection over Union (IoU) criterion. To date, most approaches are restricted to axis-aligned or oriented boxes and, as a consequence, many datasets are only…

Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…

Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to…

Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning…

Object detectors are vital to many modern computer vision applications. However, even state-of-the-art object detectors are not perfect. On two images that look similar to human eyes, the same detector can make different predictions because…

In this paper we focus on the problem of learning an optimal policy for Active Visual Search (AVS) of objects in known indoor environments with an online setup. Our POMP method uses as input the current pose of an agent (e.g. a robot) and a…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Accurate location information is essential for many wireless sensor network (WSN) applications. A location-aware WSN generally includes two types of nodes: sensors whose locations to be determined and anchors whose locations are known a…

Low-Rank Adaptation (LoRA) is a widely used finetuning method for large models. Its small memory footprint allows practitioners to adapt large models to specific tasks at a fraction of the cost of full finetuning. Different modifications…

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…