相关论文: Discriminative Map Retrieval Using View-Dependent …
Text-based person retrieval aims to identify a target individual from an image gallery using a natural language description. Existing methods primarily focus on appearance-driven cross-modal retrieval, yet face significant challenges due to…
Image features for retrieval-based localization must be invariant to dynamic objects (e.g. cars) as well as seasonal and daytime changes. Such invariances are, up to some extent, learnable with existing methods using triplet-like losses,…
Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…
Beam search is a go-to strategy for decoding neural sequence models. The algorithm can naturally be viewed as a subset optimization problem, albeit one where the corresponding set function does not reflect interactions between candidates.…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…
A new class of applications based on visual search engines are emerging, especially on smart-phones that have evolved into powerful tools for processing images and videos. The state-of-the-art algorithms for large visual content recognition…
Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…
As the usage of 3D models increases, so does the importance of developing accurate 3D shape retrieval algorithms. A common approach is to calculate a shape descriptor for each object, which can then be compared to determine two objects'…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
One object class may show large variations due to diverse illuminations, backgrounds and camera viewpoints. Traditional object detection methods often perform worse under unconstrained video environments. To address this problem, many…
Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…
Object localization is an important computer vision problem with a variety of applications. The lack of large scale object-level annotations and the relative abundance of image-level labels makes a compelling case for weak supervision in…
Current exploration methods struggle to search for shops or restaurants in unknown open-world environments due to the lack of prior knowledge. Humans can leverage venue maps that offer valuable scene priors to aid exploration planning by…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…
Ground texture localization using a downward-facing camera offers a low-cost, high-precision localization solution that is robust to dynamic environments and requires no environmental modification. We present a significantly improved…
Visual relationship detection can bridge the gap between computer vision and natural language for scene understanding of images. Different from pure object recognition tasks, the relation triplets of subject-predicate-object lie on an…