Related papers: Towards Test-time Efficient Visual Place Recogniti…
We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…
In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…
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,…
Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying a specific place. But this concept of utility is not…
Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensitive to changes in…
Visual place recognition (VPR) is usually considered as a specific image retrieval problem. Limited by existing training frameworks, most deep learning-based works cannot extract sufficiently stable global features from RGB images and rely…
In robotics, Spiking Neural Networks (SNNs) are increasingly recognized for their largely-unrealized potential energy efficiency and low latency particularly when implemented on neuromorphic hardware. Our paper highlights three advancements…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…
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,…
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…
Visual Place Recognition (VPR) determines a query image's geographic location by matching it against geotagged databases. However, existing methods struggle with perceptual aliasing caused by irrelevant regions and inefficient re-ranking…
Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models to extract…
Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure…
The utilization of multi-modal sensor data in visual place recognition (VPR) has demonstrated enhanced performance compared to single-modal counterparts. Nonetheless, integrating additional sensors comes with elevated costs and may not be…
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…
Localization is an essential capability for mobile robots. A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize previously seen places in the world based solely on images.…
Recently several fusion and switching based approaches have been presented to solve the problem of Visual Place Recognition. In spite of these systems demonstrating significant boost in VPR performance they each have their own set of…
Real-time visual localization often utilizes online computing, for which query images or videos are transmitted to remote servers for visual place recognition (VPR). However, limited network bandwidth necessitates image-quality reduction…
Asymmetric image retrieval is a task that seeks to balance retrieval accuracy and efficiency by leveraging lightweight and large models for the query and gallery sides, respectively. The key to asymmetric image retrieval is realizing…
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…