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Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…
With the advances in both stable interest region detectors and robust and distinctive descriptors, local feature-based image or object retrieval has become a popular research topic. %All of the local feature-based image retrieval system…
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…
Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…
We propose a new task of recommending touristic locations based on a user's visiting history in a geographically remote region. This can be used to plan a touristic visit to a new city or country, or by travel agencies to provide…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
Referring to objects in a natural and unambiguous manner is crucial for effective human-robot interaction. Previous research on learning-based referring expressions has focused primarily on comprehension tasks, while generating referring…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Visual place recognition (VPR) using deep networks has achieved state-of-the-art performance. However, most of them require a training set with ground truth sensor poses to obtain positive and negative samples of each observation's spatial…
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…
Intelligent assistive systems can navigate blind people, but most of them could only give non-intuitive cues or inefficient guidance. Based on computer vision and vibrotactile encoding, this paper presents an interactive system that…
Detecting firearms and accurately localizing individuals carrying them in images or videos is of paramount importance in security, surveillance, and content customization. However, this task presents significant challenges in complex…
In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will…
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a…
Person search has recently emerged as a challenging task that jointly addresses pedestrian detection and person re-identification. Existing approaches follow a fully supervised setting where both bounding box and identity annotations are…
Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…