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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…
Practical face recognition has been studied in the past decades, but still remains an open challenge. Current prevailing approaches have already achieved substantial breakthroughs in recognition accuracy. However, their performance usually…
Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…
Visual place recognition (VPR) - the act of recognizing a familiar visual place - becomes difficult when there is extreme environmental appearance change or viewpoint change. Particularly challenging is the scenario where both phenomena…
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 manipulation localization (VML) aims to identify tampered regions in images and videos, a task that has become increasingly challenging with the rise of advanced editing tools. Existing methods face two main issues: resolution…
Table structure recognition (TSR) aims at extracting tables in images into machine-understandable formats. Recent methods solve this problem by predicting the adjacency relations of detected cell boxes or learning to directly generate the…
Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…
We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…
A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…
In this work, we propose Adversarial Complementary Learning (ACoL) to automatically localize integral objects of semantic interest with weak supervision. We first mathematically prove that class localization maps can be obtained by directly…
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) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…
In this work we propose a novel joint training method for Visual Place Recognition (VPR), which simultaneously learns a global descriptor and a pair classifier for re-ranking. The pair classifier can predict whether a given pair of images…
A recent approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques simultaneously. However, selecting the optimal set of techniques to use in a specific…
Weakly supervised object localization (WSOL) aims at predicting object locations in an image using only image-level category labels. Common challenges that image classification models encounter when localizing objects are, (a) they tend to…
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…
LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection.…
This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple…