Related papers: City-Scale Visual Place Recognition with Deep Loca…
Unsupervised dictionary learning has been a key component in state-of-the-art computer vision recognition architectures. While highly effective methods exist for patch-based dictionary learning, these methods may learn redundant features…
LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…
This paper provides an extensive study on the availability of image representations based on convolutional networks (ConvNets) for the task of visual instance retrieval. Besides the choice of convolutional layers, we present an efficient…
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…
This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…
The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…
The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task…
Semantic segmentation is a fundamental task in computer vision, which can be considered as a per-pixel classification problem. Recently, although fully convolutional neural network (FCN) based approaches have made remarkable progress in…
Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…
Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…
We propose a novel method of deep spatial matching (DSM) for image retrieval. Initial ranking is based on image descriptors extracted from convolutional neural network activations by global pooling, as in recent state-of-the-art work.…
An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…
Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…
Current major approaches to visual recognition follow an end-to-end formulation that classifies an input image into one of the pre-determined set of semantic categories. Parametric softmax classifiers are a common choice for such a closed…
This paper tackles the problem of Cross-view Video-based camera Localization (CVL). The task is to localize a query camera by leveraging information from its past observations, i.e., a continuous sequence of images observed at previous time…
The task of large-scale retrieval-based image localization is to estimate the geographical location of a query image by recognizing its nearest reference images from a city-scale dataset. However, the general public benchmarks only provide…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
In this paper, we propose VLASE, a framework to use semantic edge features from images to achieve on-road localization. Semantic edge features denote edge contours that separate pairs of distinct objects such as building-sky, road-…