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We tackle the problem of large scale visual place recognition, where the task is to quickly and accurately recognize the location of a given query photograph. We present the following three principal contributions. First, we develop a…
In the past, continual learning (CL) was mostly concerned with the problem of catastrophic forgetting in neural networks, that arises when incrementally learning a sequence of tasks. Current CL methods function within the confines of…
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global points…
Mobile robots and autonomous vehicles are often required to function in environments where critical position estimates from sensors such as GPS become uncertain or unreliable. Single image visual place recognition (VPR) provides an…
Visual Place Recognition (VPR) localizes a query image by matching it against a database of geo-tagged reference images, making it essential for navigation and mapping in robotics. Although Vision Transformer (ViT) solutions deliver high…
In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…
Biologically inspired spiking neural networks (SNNs) have garnered considerable attention due to their low-energy consumption and spatio-temporal information processing capabilities. Most existing SNNs training methods first integrate…
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…
Train timetable rescheduling (TTR) aims to promptly restore the original operation of trains after unexpected disturbances or disruptions. Currently, this work is still done manually by train dispatchers, which is challenging to maintain…
Inspired by the success of Self-supervised learning (SSL) in learning visual representations from unlabeled data, a few recent works have studied SSL in the context of continual learning (CL), where multiple tasks are learned sequentially,…
Recent advances of deep learning have achieved remarkable performances in various challenging computer vision tasks. Especially in object localization, deep convolutional neural networks outperform traditional approaches based on extraction…
Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…
Supervised learning, more specifically Convolutional Neural Networks (CNN), has surpassed human ability in some visual recognition tasks such as detection of traffic signs, faces and handwritten numbers. On the other hand, even…
In this paper we propose a reinforcement learning based weakly supervised system for localisation. We train a controller function to localise regions of interest within an image by introducing a novel reward definition that utilises…
In this paper, a new population-guided parallel learning scheme is proposed to enhance the performance of off-policy reinforcement learning (RL). In the proposed scheme, multiple identical learners with their own value-functions and…
Recently, temporal action localization (TAL) has garnered significant interest in information retrieval community. However, existing supervised/weakly supervised methods are heavily dependent on extensive labeled temporal boundaries and…
We study policy evaluation problems in multi-task reinforcement learning (RL) under a low-rank representation setting. In this setting, we are given $N$ learning tasks where the corresponding value function of these tasks lie in an…
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from…
Multitask learning (MTL) aims to develop a unified model that can handle a set of closely related tasks simultaneously. By optimizing the model across multiple tasks, MTL generally surpasses its non-MTL counterparts in terms of…