Related papers: Bag-of-Word-Groups (BoWG): A Robust and Efficient …
Loop closure detection, the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a combination of two subtasks: (1) bag-of-words image retrieval and (2)…
This paper introduces an improved reranking method for the Bag-of-Words (BoW) based image search. Built on [1], a directed image graph robust to outlier distraction is proposed. In our approach, the relevance among images is encoded in the…
Existing open-vocabulary object detection (OVD) develops methods for testing unseen categories by aligning object region embeddings with corresponding VLM features. A recent study leverages the idea that VLMs implicitly learn compositional…
The standard language modeling (LM) loss by itself has been shown to be inadequate for effective dialogue modeling. As a result, various training approaches, such as auxiliary loss functions and leveraging human feedback, are being adopted…
In this paper we present a new ensemble method, Continuous Bag-of-Skip-grams (CBOS), that produces high-quality word representations putting emphasis on the modern Greek language. The CBOS method combines the pioneering approaches for…
Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…
To measure the similarity of two documents in the bag-of-words (BoW) vector representation, different term weighting schemes are used to improve the performance of cosine similarity---the most widely used inter-document similarity measure…
Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…
Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem,…
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…
In visual simultaneous localization and mapping (SLAM), the quality of the visual vocabulary is fundamental to the system's ability to represent environments and recognize locations. While ORB-SLAM is a widely used framework, its binary…
In the Bag-of-Words (BoW) model based image retrieval task, the precision of visual matching plays a critical role in improving retrieval performance. Conventionally, local cues of a keypoint are employed. However, such strategy does not…
The Bag-of-Words (BoW) representation is widely used in computer vision. The size of the codebook impacts the time and space complexity of the applications that use BoW. Thus, given a training set for a particular computer vision task, a…
Large Language Models (LLMs) exhibit hallucinations in knowledge-intensive tasks. Graph-based retrieval augmented generation (RAG) has emerged as a promising solution, yet existing approaches suffer from fundamental recall and precision…
Video based action recognition is one of the important and challenging problems in computer vision research. Bag of Visual Words model (BoVW) with local features has become the most popular method and obtained the state-of-the-art…
In this paper we tackle the problem of efficient video event detection. We argue that linear detection functions should be preferred in this regard due to their scalability and efficiency during estimation and evaluation. A popular approach…
Automatic analysis of biomedical time series such as electroencephalogram (EEG) and electrocardiographic (ECG) signals has attracted great interest in the community of biomedical engineering due to its important applications in medicine. In…
Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts arising from long-term…
This paper addresses the problem of change detection from a novel perspective of long-term map learning. We are particularly interested in designing an approach that can scale to large maps and that can function under global uncertainty in…
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the…