Related papers: Intelligent Reference Curation for Visual Place Re…
In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…
In a scenario where multi-modal cameras are operating together, the problem of working with non-aligned images cannot be avoided. Yet, existing image fusion algorithms rely heavily on strictly registered input image pairs to produce more…
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…
A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…
Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…
The integration of semantic information in a map allows robots to understand better their environment and make high-level decisions. In the last few years, neural networks have shown enormous progress in their perception capabilities.…
A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities. For example, to "go to the nearest chair", the agent might need to identify a chair in a living room using…
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…
Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…
Visual Place Recognition (VPR) is a scene-oriented image retrieval problem in computer vision in which re-ranking based on local features is commonly employed to improve performance. In robotics, VPR is also referred to as Loop Closure…
In this work we propose a novel joint training method for Visual Place Recognition (VPR), which simultaneously learns a global descriptor and a pair classifier for re-ranking. The pair classifier can predict whether a given pair of images…
Visual Place Recognition (VPR) is a fundamental task that allows a robotic platform to successfully localise itself in the environment. For decentralised VPR applications where the visual data has to be transmitted between several agents,…
Recent studies show that vision models pre-trained in generic visual learning tasks with large-scale data can provide useful feature representations for a wide range of visual perception problems. However, few attempts have been made to…
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…
Visual place recognition (VPR) aiming at predicting the location of an image based solely on its visual features is a fundamental task in robotics and autonomous systems. Domain variation remains one of the main challenges in VPR and is…
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes. An emerging trend in VPR is the use of sequence-based filtering…
Traditional visual place recognition (VPR), usually using standard cameras, is easy to fail due to glare or high-speed motion. By contrast, event cameras have the advantages of low latency, high temporal resolution, and high dynamic range,…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…
Compared to conventional cameras, event cameras provide a high dynamic range and low latency, offering greater robustness to rapid motion and challenging lighting conditions. Although the potential of event cameras for visual place…