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Optical communication using modulated LEDs (e.g., visible light communication) is an emerging application for event cameras, thanks to their high spatio-temporal resolutions. Event cameras can be used simply to decode the LED signals and…
Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…
We propose Visual Query Detection (VQD), a new visual grounding task. In VQD, a system is guided by natural language to localize a variable number of objects in an image. VQD is related to visual referring expression recognition, where the…
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…
Fine localization is a crucial task for autonomous vehicles. Although many algorithms have been explored in the literature for this specific task, the goal of getting accurate results from commodity sensors remains a challenge. As…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…
Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…
Cross-view image geo-localization aims to determine the locations of street-view query images by matching with GPS-tagged reference images from aerial view. Recent works have achieved surprisingly high retrieval accuracy on city-scale…
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…
Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…
Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
We propose the ambiguity problem for the foreground object segmentation task and motivate the importance of estimating and accounting for this ambiguity when designing vision systems. Specifically, we distinguish between images which lead…
3D visual grounding aims to localize the object in 3D point cloud scenes that semantically corresponds to given natural language sentences. It is very critical for roadside infrastructure system to interpret natural languages and localize…
Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…
Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…