Related papers: Loop Closure Detection with RGB-D Feature Pyramid …
Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…
Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…
Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…
Semi-supervised learning (SSL) has been extensively studied to improve the generalization ability of deep neural networks for visual recognition. To involve the unlabelled data, most existing SSL methods are based on common density-based…
Siamese-network-based self-supervised learning (SSL) suffers from slow convergence and instability in training. To alleviate this, we propose a framework to exploit intermediate self-supervisions in each stage of deep nets, called the…
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous…
The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…
Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…
Retrieval of family members in the wild aims at finding family members of the given subject in the dataset, which is useful in finding the lost children and analyzing the kinship. However, due to the diversity in age, gender, pose and…
This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…
Large training datasets almost always contain examples with inaccurate or incorrect labels. Deep Neural Networks (DNNs) tend to overfit training label noise, resulting in poorer model performance in practice. To address this problem, we…
Siamese networks have drawn great attention in visual tracking because of their balanced accuracy and speed. However, the backbone networks used in Siamese trackers are relatively shallow, such as AlexNet [18], which does not fully take…
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…
In this paper we explore methods to exploit symmetries for ensuring sample efficiency in reinforcement learning (RL), this problem deserves ever increasing attention with the recent advances in the use of deep networks for complex RL tasks…
We propose Masked Siamese Networks (MSN), a self-supervised learning framework for learning image representations. Our approach matches the representation of an image view containing randomly masked patches to the representation of the…
The objective of this paper is to address the localization problem using omnidirectional images captured by a catadioptric vision system mounted on the robot. For this purpose, we explore the potential of Siamese Neural Networks for…
This paper explores a fully unsupervised deep learning approach for computing distance-preserving maps that generate low-dimensional embeddings for a certain class of manifolds. We use the Siamese configuration to train a neural network to…
Change detection (CD) is one of the most vital applications in remote sensing. Recently, deep learning has achieved promising performance in the CD task. However, the deep models are task-specific and CD data set bias often exists, hence it…
Object cosegmentation addresses the problem of discovering similar objects from multiple images and segmenting them as foreground simultaneously. In this paper, we propose a novel end-to-end pipeline to segment the similar objects…