Related papers: AnyLoc: Towards Universal Visual Place Recognition
Visual Place Recognition (vPR) plays a crucial role in Unmanned Aerial Vehicle (UAV) navigation, enabling robust localization across diverse environments. Despite significant advancements, aerial vPR faces unique challenges due to the…
Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured…
Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…
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 for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
A key challenge in translating Visual Place Recognition (VPR) from the lab to long-term deployment is ensuring a priori that a system can meet user-specified performance requirements across different parts of an environment, rather than…
Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…
After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…
Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…
Multimodal intelligence development recently show strong progress in visual understanding and high level reasoning. Though, most reasoning system still reply on textual information as the main medium for inference. This limit their…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
Visual environments are inherently hierarchical, as a panoramic view naturally encompasses and organizes multiple perspective views within its field. Capturing this hierarchy is crucial for effective perspective-to-equirectangular (P2E)…
Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…
In this paper, we present SPVLoc, a global indoor localization method that accurately determines the six-dimensional (6D) camera pose of a query image and requires minimal scene-specific prior knowledge and no scene-specific training. Our…
LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognition (VPR) has embraced Vision Foundation Models (VFMs) to…
Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…
Visual Place Recognition (VPR) is a crucial capability for long-term autonomous robots, enabling them to identify previously visited locations using visual information. However, existing methods remain limited in indoor settings due to the…
In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable…
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…
A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting conditions. Numerous approaches based on deep-learnt image…