Related papers: Optimal Transport Aggregation for Visual Place Rec…

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…

Sequence-based visual place recognition (VPR) for SLAM and robot relocalization must decide whether the retrieved top-1 candidate is safe to accept. Conformal prediction is a natural framework for this accept/reject decision, but its…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

This research proposes a hybrid Machine Learning and metaheuristic mechanism that is designed to solve Vehicle Routing Problems (VRPs). The main of our method is an edge solution selector model, which classifies solution edges to identify…

Salient object detection (SOD) aims to segment visually prominent regions in images and serves as a foundational task for various computer vision applications. We posit that SOD can now reach near-supervised accuracy without a single…

Training deep models for LiDAR semantic segmentation is challenging due to the inherent sparsity of point clouds. Utilizing temporal data is a natural remedy against the sparsity problem as it makes the input signal denser. However,…

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…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

Unsupervised approaches to learning in neural networks are of substantial interest for furthering artificial intelligence, both because they would enable the training of networks without the need for large numbers of expensive annotations,…

Image matching, which establishes correspondences between two-view images to recover 3D structure and camera geometry, serves as a cornerstone in computer vision and underpins a wide range of applications, including visual localization, 3D…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

Graph alignment, which aims at identifying corresponding entities across multiple networks, has been widely applied in various domains. As the graphs to be aligned are usually constructed from different sources, the inconsistency issues of…

One-stage object detectors such as SSD or YOLO already have shown promising accuracy with small memory footprint and fast speed. However, it is widely recognized that one-stage detectors have difficulty in detecting small objects while they…

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…

Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR sensor data can be…

Deep Reinforcement Learning (DRL) has emerged as a promising approach for solving Combinatorial Optimization (CO) problems, such as the 3D Bin Packing Problem (3D-BPP), Traveling Salesman Problem (TSP), or Vehicle Routing Problem (VRP), but…

Automatic License-Plate Recognition (ALPR) plays a pivotal role in Intelligent Transportation Systems (ITS) as a fundamental element of Smart Cities. However, due to its high variability, ALPR faces challenging issues more efficiently…

Existing pedestrian attribute recognition (PAR) algorithms adopt pre-trained CNN (e.g., ResNet) as their backbone network for visual feature learning, which might obtain sub-optimal results due to the insufficient employment of the…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…