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Salient object detection is subjective in nature, which implies that multiple estimations should be related to the same input image. Most existing salient object detection models are deterministic following a point to point estimation…

The dominant approach for learning local patch descriptors relies on small image regions whose scale must be properly estimated a priori by a keypoint detector. In other words, if two patches are not in correspondence, their descriptors…

It is hard to create consistent ground truth data for interest points in natural images, since interest points are hard to define clearly and consistently for a human annotator. This makes interest point detectors non-trivial to build. In…

In this paper, we propose a novel edge preserving and multi-scale contextual neural network for salient object detection. The proposed framework is aiming to address two limits of the existing CNN based methods. First, region-based CNN…

High-quality 3D reconstructions from endoscopy video play an important role in many clinical applications, including surgical navigation where they enable direct video-CT registration. While many methods exist for general multi-view 3D…

We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We…

This work addresses the challenge of sub-pixel accuracy in detecting 2D local features, a cornerstone problem in computer vision. Despite the advancements brought by neural network-based methods like SuperPoint and ALIKED, these modern…

Many robotics applications require interest points that are highly repeatable under varying viewpoints and lighting conditions. However, this requirement is very challenging as the environment changes continuously and indefinitely, leading…

We present a novel method for reliably explaining the predictions of neural networks. We consider an explanation reliable if it identifies input features relevant to the model output by considering the input and the neighboring data points.…

Deep learning based salient object detection has recently achieved great success with its performance greatly outperforms any other unsupervised methods. However, annotating per-pixel saliency masks is a tedious and inefficient procedure.…

Much of the recent efforts on salient object detection (SOD) have been devoted to producing accurate saliency maps without being aware of their instance labels. To this end, we propose a new pipeline for end-to-end salient instance…

Local feature matching enjoys wide-ranging applications in the realm of computer vision, encompassing domains such as image retrieval, 3D reconstruction, and object recognition. However, challenges persist in improving the accuracy and…

Salient object detection plays an important role in many downstream tasks. However, complex real-world scenes with varying scales and numbers of salient objects still pose a challenge. In this paper, we directly address the problem of…

Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…

Neural network visualization techniques mark image locations by their relevancy to the network's classification. Existing methods are effective in highlighting the regions that affect the resulting classification the most. However, as we…

As the usage of 3D models increases, so does the importance of developing accurate 3D shape retrieval algorithms. A common approach is to calculate a shape descriptor for each object, which can then be compared to determine two objects'…

The constraint of neighborhood consistency or local consistency is widely used for robust image matching. In this paper, we focus on learning neighborhood topology consistent descriptors (TCDesc), while former works of learning descriptors,…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

We propose an approach to discover class-specific pixels for the weakly-supervised semantic segmentation task. We show that properly combining saliency and attention maps allows us to obtain reliable cues capable of significantly boosting…

This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…