相关论文: Self-localization from Images with Small Overlap

Vision tasks are characterized by the properties of locality and translation invariance. The superior performance of convolutional neural networks (CNNs) on these tasks is widely attributed to the inductive bias of locality and weight…

Weakly supervised localization aims at finding target object regions using only image-level supervision. However, localization maps extracted from classification networks are often not accurate due to the lack of fine pixel-level…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Self-supervised contrastive learning has demonstrated great potential in learning visual representations. Despite their success in various downstream tasks such as image classification and object detection, self-supervised pre-training for…

Deep Convolutional Neural Networks (DCNNs) have recently shown state of the art performance in high level vision tasks, such as image classification and object detection. This work brings together methods from DCNNs and probabilistic…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

Object localization has a vital role in any object detector, and therefore, has been the focus of attention by many researchers. In this article, a special training approach is proposed for a light convolutional neural network (CNN) to…

This paper tackles the problem of Cross-view Video-based camera Localization (CVL). The task is to localize a query camera by leveraging information from its past observations, i.e., a continuous sequence of images observed at previous time…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

In this paper, we propose a method for keypoint discovery from a 2D image using image-level supervision. Recent works on unsupervised keypoint discovery reliably discover keypoints of aligned instances. However, when the target instances…

Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

This paper presents a study on the use of Convolutional Neural Networks for camera relocalisation and its application to map compression. We follow state of the art visual relocalisation results and evaluate the response to different data…

In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…

Visual place recognition in changing environments is the problem of finding matchings between two sets of observations, a query set and a reference set, despite severe appearance changes. Recently, image comparison using CNN-based…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint…

Nearest neighbor (NN) graph based visual re-ranking has emerged as a powerful approach for improving retrieval accuracy, offering the advantages of effectively exploring high-dimensional manifolds without requiring additional fine-tuning.…

In many modern computer application problems, the classification of image data plays an important role. Among many different supervised machine learning models, convolutional neural networks (CNNs) and linear discriminant analysis (LDA) as…

Instance retrieval requires one to search for images that contain a particular object within a large corpus. Recent studies show that using image features generated by pooling convolutional layer feature maps (CFMs) of a pretrained…

Since Convolutional Neural Networks (CNNs) have become the leading learning paradigm in visual recognition, Naive Bayes Nearest Neighbour (NBNN)-based classifiers have lost momentum in the community. This is because (1) such algorithms…