Related papers: Memorable Maps: A Framework for Re-defining Places…
Memorability of an image is a characteristic determined by the human observers' ability to remember images they have seen. Yet recent work on image memorability defines it as an intrinsic property that can be obtained independent of the…
Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
The pixels in an image, and the objects, scenes, and actions that they compose, determine whether an image will be memorable or forgettable. While memorability varies by image, it is largely independent of an individual observer. Observer…
This research study proposes using Generative Adversarial Networks (GAN) that incorporate a two-dimensional measure of human memorability to generate memorable or non-memorable images of scenes. The memorability of the generated images is…
In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…
In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…
Images vary in how memorable they are to humans. Inspired by findings from cognitive science and computer vision, we explore correlates of image memorability in pretrained transformer-based vision encoders for the first time. Focusing…
Image memorability refers to the phenomenon where certain images are more likely to be remembered than others. It is a quantifiable and intrinsic image attribute, defined as the likelihood of an image being remembered upon a single…
Visual memory schema (VMS) maps show which regions of an image cause that image to be remembered or falsely remembered. Previous work has succeeded in generating low resolution VMS maps using convolutional neural networks. We instead…
This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…
Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place…
This paper presents a novel framework for planning paths in maps containing unknown spaces, such as from occlusions. Our approach takes as input a semantically-annotated point cloud, and leverages an image inpainting neural network to…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…
Capturing the interesting components of an image is a key aspect of image understanding. When a speaker annotates an image, selecting labels that are informative greatly depends on the prior knowledge of a prospective listener. Motivated by…
Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…
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…
Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…