相关论文: Visual Place Recognition with Probabilistic Vertex…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

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…

When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…

Semantic segmentation is a fundamental task in computer vision, which can be considered as a per-pixel classification problem. Recently, although fully convolutional neural network (FCN) based approaches have made remarkable progress in…

Although various visual localization approaches exist, such as scene coordinate regression and camera pose regression, these methods often struggle with optimization complexity or limited accuracy. To address these challenges, we explore…

We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar…

One recent promising approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques using methods such as SRAL and multi-process fusion. These approaches come…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame descriptors that could be used to determine distinctive visual landmarks for…

Pedestrian attribute recognition has attracted many attentions due to its wide applications in scene understanding and person analysis from surveillance videos. Existing methods try to use additional pose, part or viewpoint information to…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Deep convolutional neural networks have been widely used in scene classification of remotely sensed images. In this work, we propose a robust learning method for the task that is secure against partially incorrect categorization of images.…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving the place recognition problem with complex radar data. Our method is based on invariant instance feature learning but is tailored for…

Despite the popularity and empirical success of patch-based nearest-neighbor and weighted majority voting approaches to medical image segmentation, there has been no theoretical development on when, why, and how well these nonparametric…

Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…

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…

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…

Signage is everywhere and a robot should be able to take advantage of signs to help it localize (including Visual Place Recognition (VPR)) and map. Robust text detection & recognition in the wild is challenging due to such factors as pose,…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…