Related papers: Voronoi-based Second-order Descriptor with Whitene…
A Voronoi diagram is a basic geometric structure that partitions the space into regions associated with a given set of sites, such that all points in a region are closer to the corresponding site than to all other sites. While being…
Recent works show that the data distribution in a network's latent space is useful for estimating classification uncertainty and detecting Out-of-distribution (OOD) samples. To obtain a well-regularized latent space that is conducive for…
We study Voronoi diagrams for distance functions that add together two convex functions, each taking as its argument the difference between Cartesian coordinates of two planar points. When the functions do not grow too quickly, then the…
Pooling layers (e.g., max and average) may overlook important information encoded in the spatial arrangement of pixel intensity and/or feature values. We propose a novel lacunarity pooling layer that aims to capture the spatial…
Biologically inspired, from the early HMAX model to Spatial Pyramid Matching, pooling has played an important role in visual recognition pipelines. Spatial pooling, by grouping of local codes, equips these methods with a certain degree of…
Aim of this paper is to prove the second order differentiation formula along geodesics in compact $RCD^*(K,N)$ spaces with $N<\infty$. This formula is new even in the context of Alexandrov spaces. We establish this result by showing that…
Bilinear pooling of Convolutional Neural Network (CNN) features [22, 23], and their compact variants [10], have been shown to be effective at fine-grained recognition, scene categorization, texture recognition, and visual question-answering…
In this work, we revisit the global average pooling layer proposed in [13], and shed light on how it explicitly enables the convolutional neural network to have remarkable localization ability despite being trained on image-level labels.…
Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
In this work, we first tackle the problem of simultaneous pixel-level localization and image-level classification with only image-level labels for fully convolutional network training. We investigate the global pooling method which plays a…
Images captured nowadays are of varying dimensions with smartphones and DSLR's allowing users to choose from a list of available image resolutions. It is therefore imperative for forensic algorithms such as resampling detection to scale…
Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…
Visual Place Recognition (VPR) enables robust localization through image retrieval based on learned descriptors. However, drastic appearance variations of images at the same place caused by viewpoint changes can lead to inconsistent…
Trained using only image class label, deep weakly supervised methods allow image classification and ROI segmentation for interpretability. Despite their success on natural images, they face several challenges over histology data where ROI…
The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…
There is an increasingly apparent need for validating the classifications made by deep learning systems in safety-critical applications like autonomous vehicle systems. A number of recent papers have proposed methods for detecting anomalous…
LiDAR place recognition is a crucial module in localization that matches the current location with previously observed environments. Most existing approaches in LiDAR place recognition dominantly focus on the spinning type LiDAR to exploit…
Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that…