Related papers: Faster or Stronger: Towards Flexible Visual Place …

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…

Visual token pruning is a promising approach for reducing the computational cost of vision-language models (VLMs), and existing methods often rely on early pruning decisions to improve efficiency. While effective on coarse-grained reasoning…

Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…

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…

Vision-Language Models (VLMs) have emerged as a promising paradigm in autonomous driving (AD), providing a unified framework for perception and decision-making. However, their real-world deployment is hindered by significant computational…

Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are…

Vision-Language Models (VLMs) have shown strong capabilities on diverse multimodal tasks. However, the large number of visual tokens output by the vision encoder severely hinders inference efficiency, and prior studies have shown that many…

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…

Network pruning is an effective technique for enabling lightweight Large Vision-Language Models (LVLMs), which primarily incorporates both weights and activations into the importance metric. However, existing efforts typically process…

Instructed Visual Segmentation (IVS) tasks require segmenting objects in images or videos based on natural language instructions. While recent multimodal large language models (MLLMs) have achieved strong performance on IVS, their inference…

High runtime memory and high latency puts significant constraint on Vision Transformer training and inference, especially on edge devices. Token pruning reduces the number of input tokens to the ViT based on importance criteria of each…

Grounded Conversation Generation (GCG) is an emerging vision-language task that requires models to generate natural language responses seamlessly intertwined with corresponding object segmentation masks. Recent models, such as GLaMM and…

Large Vision-Language Models (LVLMs) encode visual inputs as dense sequences of patch-level tokens to capture fine-grained semantics. These visual tokens often outnumber their textual counterparts by a large margin, leading to substantial…

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,…

Since the introduction of the Vision Transformer (ViT), researchers have sought to make ViTs more efficient by removing redundant information in the processed tokens. While different methods have been explored to achieve this goal, we still…

Since its inception, Vision Transformer (ViT) has emerged as a prevalent model in the computer vision domain. Nonetheless, the multi-head self-attention (MHSA) mechanism in ViT is computationally expensive due to its calculation of…

While vision transformers (ViTs) have continuously achieved new milestones in the field of computer vision, their sophisticated network architectures with high computation and memory costs have impeded their deployment on resource-limited…

State Space Models (SSMs) have the advantage of keeping linear computational complexity compared to attention modules in transformers, and have been applied to vision tasks as a new type of powerful vision foundation model. Inspired by the…

Vision Transformer (ViT)-based sparse multi-view 3D object detectors have achieved remarkable accuracy but still suffer from high inference latency due to heavy token processing. To accelerate these models, token compression has been widely…

In Vision-Language Models (VLMs), processing a massive number of visual tokens incurs prohibitive computational overhead. While recent training-aware pruning methods attempt to selectively discard redundant tokens, they largely rely on…