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As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…
Place recognition is an essential component of Simultaneous Localization And Mapping (SLAM). Under severe appearance change, reliable place recognition is a difficult perception task since the same place is perceptually very different in…
Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem,…
Typical attempts to improve the capability of visual place recognition techniques include the use of multi-sensor fusion and integration of information over time from image sequences. These approaches can improve performance but have…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
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…
Sequence-based place recognition methods for all-weather navigation are well-known for producing state-of-the-art results under challenging day-night or summer-winter transitions. These systems, however, rely on complex handcrafted…
Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…
Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…
Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…
We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…
Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…
Visual place recognition is particularly challenging when places suffer changes in its appearance. Such changes are indeed common, e.g., due to weather, night/day or seasons. In this paper we leverage on recent research using deep networks,…