Related papers: Structured Pruning for Efficient Visual Place Reco…
Visual place recognition (VPR), a fundamental task in computer vision and robotics, is the problem of identifying a place mainly based on visual information. Viewpoint and appearance changes, such as due to weather and seasonal variations,…
The remarkable performance of deep Convolutional neural networks (CNNs) is generally attributed to their deeper and wider architectures, which can come with significant computational costs. Pruning neural networks has thus gained interest…
Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…
Pruning is a promising approach to compress complex deep learning models in order to deploy them on resource-constrained edge devices. However, many existing pruning solutions are based on unstructured pruning, which yields models that…
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…
Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…
Transformer architecture has gained popularity due to its ability to scale with large dataset. Consequently, there is a need to reduce the model size and latency, especially for on-device deployment. We focus on vision transformer proposed…
Visual Document Retrieval (VDR), the task of retrieving visually-rich document pages using queries that combine visual and textual cues, is crucial for numerous real-world applications. Recent state-of-the-art methods leverage Large…
Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…
In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to share a frozen DINOv2 backbone. Two…
Neural networks grow vastly in size to tackle more sophisticated tasks. In many cases, such large networks are not deployable on particular hardware and need to be reduced in size. Pruning techniques help to shrink deep neural networks to…
Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM). VPR faces challenges such as accurate image neighbor retrieval…
Deep Neural Networks (DNNs) are the key to the state-of-the-art machine vision, sensor fusion and audio/video signal processing. Unfortunately, their computation complexity and tight resource constraints on the Edge make them hard to…
Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a…
Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. In this work, we…
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,…
Traditional visual place recognition (VPR), usually using standard cameras, is easy to fail due to glare or high-speed motion. By contrast, event cameras have the advantages of low latency, high temporal resolution, and high dynamic range,…
Structured pruning greatly eases the deployment of large neural networks in resource-constrained environments. However, current methods either involve strong domain expertise, require extra hyperparameter tuning, or are restricted only to a…
A recent approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques simultaneously. However, selecting the optimal set of techniques to use in a specific…
The deployment of convolutional neural networks is often hindered by high computational and storage requirements. Structured model pruning is a promising approach to alleviate these requirements. Using the VGG-16 model as an example, we…