Related papers: EffLoc: Lightweight Vision Transformer for Efficie…
Wireless fingerprint-based localization has become one of the most promising technologies for ubiquitous location-aware computing and intelligent location-based services. However, due to RF vulnerability to environmental dynamics over time,…
Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…
Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…
The Vision Transformer (ViT) excels in accuracy when handling high-resolution images, yet it confronts the challenge of significant spatial redundancy, leading to increased computational and memory requirements. To address this, we present…
Scaling video diffusion transformers is fundamentally bottlenecked by two compounding costs: the expensive quadratic complexity of attention per step, and the iterative sampling steps. In this work, we propose EFlow, an efficient few-step…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Cross-view object geo-localization (CVOGL) aims to determine the location of a specific object in high-resolution satellite imagery given a query image with a point prompt. Existing approaches treat CVOGL as a one-shot detection task,…
Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…
Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…
We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…
Weakly supervised object localization (WSOL) aims at predicting object locations in an image using only image-level category labels. Common challenges that image classification models encounter when localizing objects are, (a) they tend to…
Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…
Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…
In this paper, we explore the spatial redundancy in video recognition with the aim to improve the computational efficiency. It is observed that the most informative region in each frame of a video is usually a small image patch, which…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
We present RELOCATE, a simple training-free baseline designed to perform the challenging task of visual query localization in long videos. To eliminate the need for task-specific training and efficiently handle long videos, RELOCATE…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…
Camera localization is a classical computer vision task that serves various Artificial Intelligence and Robotics applications. With the rapid developments of Deep Neural Networks (DNNs), end-to-end visual localization methods are prosperous…