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Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…

Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense monocular reconstruction. We propose…

Currently, existing salient object detection methods based on convolutional neural networks commonly resort to constructing discriminative networks to aggregate high level and low level features. However, contextual information is always…

It has been widely known that CAM (Class Activation Map) usually only activates discriminative object regions and falsely includes lots of object-related backgrounds. As only a fixed set of image-level object labels are available to the…

While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation…

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

Despite weakly supervised object detection (WSOD) being a promising step toward evading strong instance-level annotations, its capability is confined to closed-set categories within a single training dataset. In this paper, we propose a…

Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this…

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for…

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…

Object detection is an important task in computer vision, which aims to detect the objects of interest. through the given category list or query images. In this work, we propose a new problem of language-visual-complementary open-set object…

Contrastive learning has achieved great success in skeleton-based action recognition. However, most existing approaches encode the skeleton sequences as entangled spatiotemporal representations and confine the contrasts to the same level of…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

In the field of autonomous driving or robotics, simultaneous localization and mapping (SLAM) and multi-object tracking (MOT) are two fundamental problems and are generally applied separately. Solutions to SLAM and MOT usually rely on…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

In pursuit of detecting unstinted objects that extend beyond predefined categories, prior arts of open-vocabulary object detection (OVD) typically resort to pretrained vision-language models (VLMs) for base-to-novel category generalization.…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…