Related papers: SAGE: Spatial-visual Adaptive Graph Exploration fo…
Large-scale visual place recognition (VPR) is inherently challenging because not all visual cues in the image are beneficial to the task. In order to highlight the task-relevant visual cues in the feature embedding, the existing attention…
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from…
In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…
In this work, we aim at an important but less explored problem of a simple yet effective backbone specific for cross-view geo-localization task. Existing methods for cross-view geo-localization tasks are frequently characterized by 1)…
Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…
In recent years, predicting driver's focus of attention has been a very active area of research in the autonomous driving community. Unfortunately, existing state-of-the-art techniques achieve this by relying only on human gaze information,…
Vision-Language Models (VLMs) have made striking progress, yet their spatial reasoning remains fragile: models that answer an original input correctly can still fail under paired transformations with predictable answer mappings, revealing a…
Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient lighting conditions during day and night. Moreover, a…
3D Gaussian Splatting (3DGS) has significantly improved the efficiency and realism of three-dimensional scene visualization in several applications, ranging from robotics to eXtended Reality (XR). This work presents SAGE (Semantic-Driven…
Training modern neural networks on large datasets is computationally and energy intensive. We present SAGE, a streaming data-subset selection method that maintains a compact Frequent Directions (FD) sketch of gradient geometry in $O(\ell…
Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…
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…
In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…
Visual Place Recognition (VPR) aims to estimate the location of an image by treating it as a retrieval problem. VPR uses a database of geo-tagged images and leverages deep neural networks to extract a global representation, called…
Long-term memory is becoming a central bottleneck for language agents. Exsting RAG and GraphRAG systems largely treat memory graphs as static retrieval middleware, which limits their ability to recover complete evidence chains from partial…
Unsupervised Domain Adaptation (UDA) aims to bridge the gap between a source domain, where labelled data are available, and a target domain only represented with unlabelled data. If domain invariant representations have dramatically…
Visual Place Recognition (VPR) is a fundamental task that allows a robotic platform to successfully localise itself in the environment. For decentralised VPR applications where the visual data has to be transmitted between several agents,…
Visual Place Recognition (VPR) in long-term deployment requires reasoning beyond pixel similarity: systems must make transparent, interpretable decisions that remain robust under lighting, weather and seasonal change. We present Text2Graph…
In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…