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We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…

Vision Transformers (ViTs) have revolutionized computer vision by leveraging self-attention to model long-range dependencies. However, ViTs face challenges such as high computational costs due to the quadratic scaling of self-attention and…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

The term fine-grained visual classification (FGVC) refers to classification tasks where the classes are very similar and the classification model needs to be able to find subtle differences to make the correct prediction. State-of-the-art…

Efficient Visual Instruction Fine-Tuning (EVIT) seeks to adapt Multimodal Large Language Models (MLLMs) to downstream tasks with minimal computational overhead. However, as task diversity and complexity increase, EVIT faces significant…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Weakly Supervised Object Localization (WSOL), which aims to localize objects by only using image-level labels, has attracted much attention because of its low annotation cost in real applications. Recent studies leverage the advantage of…

Vision-language models (VLMs) like CLIP have demonstrated remarkable applicability across a variety of downstream tasks, including zero-shot image classification. Recently, the use of prompts or adapters for efficient transfer learning…

Locating human-object interaction (HOI) actions within video serves as the foundation for multiple downstream tasks, such as human behavior analysis and human-robot skill transfer. Current temporal action localization methods typically rely…

YOLOv8 plays a crucial role in the realm of autonomous driving, owing to its high-speed target detection, precise identification and positioning, and versatile compatibility across multiple platforms. By processing video streams or images…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

Indoor localization services are a crucial aspect for the realization of smart cyber-physical systems within cities of the future. Such services are poised to reinvent the process of navigation and tracking of people and assets in a variety…

Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Recently, neural radiance fields (NeRF) have gained significant attention in the field of visual localization. However, existing NeRF-based approaches either lack geometric constraints or require extensive storage for feature matching,…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

This work presents the network architecture EVP (Enhanced Visual Perception). EVP builds on the previous work VPD which paved the way to use the Stable Diffusion network for computer vision tasks. We propose two major enhancements. First,…

We present a new method to localize a camera within a previously unseen environment perceived from an egocentric point of view. Although this is, in general, an ill-posed problem, humans can effortlessly and efficiently determine their…