相关论文: Feature Descriptors for Tracking by Detection: a B…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

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…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Good local features improve the robustness of many 3D re-localization and multi-view reconstruction pipelines. The problem is that viewing angle and distance severely impact the recognizability of a local feature. Attempts to improve…

Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…

Most modern multiple object tracking (MOT) systems follow the tracking-by-detection paradigm, consisting of a detector followed by a method for associating detections into tracks. There is a long history in tracking of combining motion and…

This paper focuses on the problem of decentralized pedestrian tracking using a sensor network. Traditional works on pedestrian tracking usually use a centralized framework, which becomes less practical for robotic applications due to…

Researchers have attempted utilizing deep neural network (DNN) to learn novel local features from images inspired by its recent successes on a variety of vision tasks. However, existing DNN-based algorithms have not achieved such remarkable…

In this paper, we propose a novel local feature, called Local Orientation Adaptive Descriptor (LOAD), to capture regional texture in an image. In LOAD, we proposed to define point description on an Adaptive Coordinate System (ACS), adopt a…

In this study, we propose a novel scene descriptor for visual place recognition. Unlike popular bag-of-words scene descriptors which rely on a library of vector quantized visual features, our proposed descriptor is based on a library of raw…

Traffic signs play a critical role in road safety and traffic management for autonomous driving systems. Accurate traffic sign classification is essential but challenging due to real-world complexities like adversarial examples and…

Binary descriptors of image patches provide processing speed advantages and require less storage than methods that encode the patch appearance with a vector of real numbers. We provide evidence that, despite its simplicity, a stochastic…

Local image feature matching under large appearance, viewpoint, and distance changes is challenging yet important. Conventional methods detect and match tentative local features across the whole images, with heuristic consistency checks to…

Indirect methods for visual SLAM are gaining popularity due to their robustness to environmental variations. ORB-SLAM2 \cite{orbslam2} is a benchmark method in this domain, however, it consumes significant time for computing descriptors…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

The ability to visually re-identify objects is a fundamental capability in vision systems. Oftentimes, it relies on collections of visual signatures based on descriptors, such as SIFT or SURF. However, these traditional descriptors were…

Current state-of-the-art trackers only rely on a target appearance model in order to localize the object in each frame. Such approaches are however prone to fail in case of e.g. fast appearance changes or presence of distractor objects,…

In the field of generic object tracking numerous attempts have been made to exploit deep features. Despite all expectations, deep trackers are yet to reach an outstanding level of performance compared to methods solely based on handcrafted…

The local descriptors have been the backbone of most of the computer vision problems. Most of the existing local descriptors are generated over the raw input images. In order to increase the discriminative power of the local descriptors,…

In recent years, camera-based localization has been widely used for robotic applications, and most proposed algorithms rely on local features extracted from recorded images. For better performance, the features used for open-loop…