Related papers: Beyond First-Order: Learning Riemannian Geometries…

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…

Riemannian manifolds have been widely employed for video representations in visual classification tasks including video-based face recognition. The success mainly derives from learning a discriminant Riemannian metric which encodes the…

Visual place recognition (VPR) aiming at predicting the location of an image based solely on its visual features is a fundamental task in robotics and autonomous systems. Domain variation remains one of the main challenges in VPR and is…

We develop new algorithms for Riemannian bilevel optimization. We focus in particular on batch and stochastic gradient-based methods, with the explicit goal of avoiding second-order information such as Riemannian hyper-gradients. We propose…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

We study the stochastic Riemannian gradient algorithm for matrix eigen-decomposition. The state-of-the-art stochastic Riemannian algorithm requires the learning rate to decay to zero and thus suffers from slow convergence and sub-optimal…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…

Vision Transformer (ViT) has been widely used in computer vision tasks with excellent results by providing representations for a whole image or image patches. However, ViT lacks detailed localized image representations at arbitrary…

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…

Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…

The present phase of Machine Learning is characterized by supervised learning algorithms relying on large sets of labeled examples ($n \to \infty$). The next phase is likely to focus on algorithms capable of learning from very few labeled…

In many imaging modalities, objects of interest can occur in a variety of locations and poses (i.e. are subject to translations and rotations in 2d or 3d), but the location and pose of an object does not change its semantics (i.e. the…

Image set recognition has been widely applied in many practical problems like real-time video retrieval and image caption tasks. Due to its superior performance, it has grown into a significant topic in recent years. However, images with…

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…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Representing graphs as sets of node embeddings in certain curved Riemannian manifolds has recently gained momentum in machine learning due to their desirable geometric inductive biases, e.g., hierarchical structures benefit from hyperbolic…

We address multi-reference visual place recognition (VPR), where reference sets captured under varying conditions are used to improve localisation performance. While deep learning with large-scale training improves robustness, increasing…

We introduce a new rotationally invariant viewing angle classification method for identifying, among a large number of Cryo-EM projection images, similar views without prior knowledge of the molecule. Our rotationally invariant features are…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…