Related papers: TeTRA-VPR: A Ternary Transformer Approach for Comp…
Vision Transformer (ViT) is emerging as the state-of-the-art architecture for image recognition. While recent studies suggest that ViTs are more robust than their convolutional counterparts, our experiments find that ViTs trained on…
We attempt to reduce the computational costs in vision transformers (ViTs), which increase quadratically in the token number. We present a novel training paradigm that trains only one ViT model at a time, but is capable of providing…
Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are…
The computation and storage requirements for Deep Neural Networks (DNNs) are usually high. This issue limits their deployability on ubiquitous computing devices such as smart phones, wearables and autonomous drones. In this paper, we…
Recent work on Vision Transformers (VTs) showed that introducing a local inductive bias in the VT architecture helps reducing the number of samples necessary for training. However, the architecture modifications lead to a loss of generality…
Discovery and learning of an underlying spatiotemporal hierarchy in sequential data is an important topic for machine learning. Despite this, little work has been done to explore hierarchical generative models that can flexibly adapt their…
LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognition (VPR) has embraced Vision Foundation Models (VFMs) to…
Visual place recognition (VPR) is an important component technology for camera-based mapping and navigation applications. This is a challenging problem because images of the same place may appear quite different for reasons including…
Mesh-based scene representation offers a promising direction for simplifying large-scale hierarchical visual localization pipelines, combining a visual place recognition step based on global features (retrieval) and a visual localization…
Vision Transformer models, such as ViT, Swin Transformer, and Transformer-in-Transformer, have recently gained significant traction in computer vision tasks due to their ability to capture the global relation between features which leads to…
This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that utilizes the BEV representation in feature extraction, feature…
Neural Radiance Fields (NeRF) revolutionize the realm of visual media by providing photorealistic Free-Viewpoint Video (FVV) experiences, offering viewers unparalleled immersion and interactivity. However, the technology's significant…
While substantial progress has been made in the absolute performance of localization and Visual Place Recognition (VPR) techniques, it is becoming increasingly clear from translating these systems into applications that other capabilities…
Recognising previously visited locations is an important, but unsolved, task in autonomous navigation. Current visual place recognition (VPR) benchmarks typically challenge models to recover the position of a query image (or images) from…
Vision Transformers (ViTs) have been widely applied in various computer vision and vision-language tasks. To gain insights into their robustness in practical scenarios, transferable adversarial examples on ViTs have been extensively…
Visual Place Recognition (VPR) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…
Visual Place Recognition (VPR) in dynamic and perceptually aliased environments remains a fundamental challenge for long-term localization. Existing deep learning-based solutions predominantly focus on single-frame embeddings, neglecting…
Visual Place Recognition (VPR) is the task of retrieving database images similar to a query photo by comparing it to a large database of known images. In real-world applications, extreme illumination changes caused by query images taken at…
Learning new classes without forgetting is crucial for real-world applications for a classification model. Vision Transformers (ViT) recently achieve remarkable performance in Class Incremental Learning (CIL). Previous works mainly focus on…