相关论文: Local Map Descriptor for Compressive Change Retrie…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…

Many visual simultaneous localization and mapping (SLAM) systems have been shown to be accurate and robust, and have real-time performance capabilities on both indoor and ground datasets. However, these methods can be problematic when…

The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…

Local Binary Descriptors are becoming more and more popular for image matching tasks, especially when going mobile. While they are extensively studied in this context, their ability to carry enough information in order to infer the original…

We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…

In this study, we aim to solve the single-view robot self-localization problem by using visual experience across domains. Although the bag-of-words method constitutes a popular approach to single-view localization, it fails badly when it's…

Constrained Optimum Path (COP) problems appear in many real-life applications, especially on communication networks. Some of these problems have been considered and solved by specific techniques which are usually difficult to extend. In…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Anomaly detection from a driver's perspective when driving is important to autonomous vehicles. As a part of Advanced Driver Assistance Systems (ADAS), it can remind the driver about dangers timely. Compared with traditional studied scenes…

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,…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

In this paper, we introduce iBoW-LCD, a novel appearance-based loop closure detection method. The presented approach makes use of an incremental Bag-of-Words (BoW) scheme based on binary descriptors to retrieve previously seen similar…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

The objective of this work is to reconstruct an original image from Bag-of-Visual-Words (BoVW). Image reconstruction from features can be a means of identifying the characteristics of features. Additionally, it enables us to generate novel…

This paper introduces an improved reranking method for the Bag-of-Words (BoW) based image search. Built on [1], a directed image graph robust to outlier distraction is proposed. In our approach, the relevance among images is encoded in the…

The goal of object detection is to find objects in an image. An object detector accepts an image and produces a list of locations as $(x,y)$ pairs. Here we introduce a new concept: {\bf location-based boosting}. Location-based boosting…

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…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…