Related papers: Salient Bundle Adjustment for Visual SLAM
Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…
Feature maps in deep neural network generally contain different semantics. Existing methods often omit their characteristics that may lead to sub-optimal results. In this paper, we propose a novel end-to-end deep saliency network which…
The recent success of immersive applications is pushing the research community to define new approaches to process 360{\deg} images and videos and optimize their transmission. Among these, saliency estimation provides a powerful tool that…
Salient object detection aims at detecting the most visually distinct objects and producing the corresponding masks. As the cost of pixel-level annotations is high, image tags are usually used as weak supervisions. However, an image tag can…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Foundation models, such as OpenAI's GPT-3 and GPT-4, Meta's LLaMA, and Google's PaLM2, have revolutionized the field of artificial intelligence. A notable paradigm shift has been the advent of the Segment Anything Model (SAM), which has…
Visual saliency detection model simulates the human visual system to perceive the scene, and has been widely used in many vision tasks. With the acquisition technology development, more comprehensive information, such as depth cue,…
We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…
Current methods aggregate multi-level features or introduce edge and skeleton to get more refined saliency maps. However, little attention is paid to how to obtain the complete salient object in cluttered background, where the targets are…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
The spherical domain representation of 360 video/image presents many challenges related to the storage, processing, transmission and rendering of omnidirectional videos (ODV). Models of human visual attention can be used so that only a…
This paper is a survey work for a bigger project for designing a Visual SLAM robot to generate 3D dense map of an unknown unstructured environment. A lot of factors have to be considered while designing a SLAM robot. Sensing method of the…
The last decades have seen great progress in saliency prediction, with the success of deep neural networks that are able to encode high-level semantics. Yet, while humans have the innate capability in leveraging their knowledge to decide…
We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…
Existing saliency-guided training approaches improve model generalization by incorporating a loss term that compares the model's class activation map (CAM) for a sample's true-class ({\it i.e.}, correct-label class) against a human…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…
Over the past decade, many computational saliency prediction models have been proposed for 2D images and videos. Considering that the human visual system has evolved in a natural 3D environment, it is only natural to want to design visual…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information to construct the…