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Landmark-based robot self-localization has recently garnered interest as a highly-compressive domain-invariant approach for performing visual place recognition (VPR) across domains (e.g., time of day, weather, and season). However,…
Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…
Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…
We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…
We propose a convolutional neural network (ConvNet) based approach for learning local image descriptors which can be used for significantly improved patch matching and 3D reconstructions. A multi-resolution ConvNet is used for learning…
Recently deep residual learning with residual units for training very deep neural networks advanced the state-of-the-art performance on 2D image recognition tasks, e.g., object detection and segmentation. However, how to fully leverage…
Recent studies show that the visual place recognition (VPR) method using pre-trained visual foundation models can achieve promising performance. In our previous work, we propose a novel method to realize seamless adaptation of foundation…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…
In the last decade, convolutional neural networks (ConvNets) have dominated and achieved state-of-the-art performances in a variety of medical imaging applications. However, the performances of ConvNets are still limited by lacking the…
One of the central challenges in visual place recognition (VPR) is learning a robust global representation that remains discriminative under large viewpoint changes, illumination variations, and severe domain shifts. While visual foundation…
Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…
The existing human pose estimation methods are confronted with inaccurate long-distance regression or high computational cost due to the complex learning objectives. This work proposes a novel deep learning framework for human pose…
Convolutional neural nets (CNN) are the leading computer vision method for classifying images. In some cases, it is desirable to classify only a specific region of the image that corresponds to a certain object. Hence, assuming that the…
We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…
A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…
Visual place recognition (VPR) is critical in not only localization and mapping for autonomous driving vehicles, but also in assistive navigation for the visually impaired population. To enable a long-term VPR system on a large scale,…
Object detection is a fundamental and challenging problem in aerial and satellite image analysis. More recently, a two-stage detector Faster R-CNN is proposed and demonstrated to be a promising tool for object detection in optical remote…
Neural networks have enabled state-of-the-art approaches to achieve incredible results on computer vision tasks such as object detection. However, such success greatly relies on costly computation resources, which hinders people with cheap…
In this paper, we propose a real-time and accurate automatic license plate recognition (ALPR) approach. Our study illustrates the outstanding design of ALPR with four insights: (1) the resampling-based cascaded framework is beneficial to…