Related papers: Adaptive Thresholding for Visual Place Recognition…
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…
Visual place recognition (VPR) is one of the research hotspots in robotics, which uses visual information to locate robots. Recently, the hierarchical two-stage VPR methods have become popular in this field due to the trade-off between…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Images can vary according to changes in viewpoint, resolution, noise, and illumination. In this paper, we aim to learn representations for an image, which are robust to wide changes in such environmental conditions, using training pairs of…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
We present a novel end-to-end partially supervised deep learning approach for video anomaly detection and localization using only normal samples. The insight that motivates this study is that the normal samples can be associated with at…
LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…
Visual Place Recognition (VPR) requires robust retrieval of geotagged images despite large appearance, viewpoint, and environmental variation. Prior methods focus on descriptor fine-tuning or fixed sampling strategies yet neglect the…
Visual Geo-localization (VG) refers to the process to identify the location described in query images, which is widely applied in robotics field and computer vision tasks, such as autonomous driving, metaverse, augmented reality, and SLAM.…
Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…
Robust 3D object detection remains a pivotal concern in the domain of autonomous field robotics. Despite notable enhancements in detection accuracy across standard datasets, real-world urban environments, characterized by their unstructured…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…
Visual place recognition (VPR) plays a crucial role in robotic localization and navigation. The key challenge lies in constructing feature representations that are robust to environmental changes. Existing methods typically adopt…
Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…
Video transition effects are widely used in video editing to connect shots for creating cohesive and visually appealing videos. However, it is challenging for non-professionals to choose best transitions due to the lack of cinematographic…
The existing methods for trajectory prediction are difficult to describe trajectory of moving objects in complex and uncertain environment accurately. In order to solve this problem, this paper proposes an adaptive trajectory prediction…