相关论文: MILD: Multi-Index hashing for Loop closure Detecti…

This work introduces two new distance metrics for comparing labeled arrays, which are common outputs of image segmentation algorithms. Each pixel in an image is assigned a label, with binary segmentation providing only two labels…

Global visual localization in LiDAR-maps, crucial for autonomous driving applications, remains largely unexplored due to the challenging issue of bridging the cross-modal heterogeneity gap. Popular multi-modal learning approach Contrastive…

In this paper, we propose a novel approach for learning multi-label classifiers with the help of privileged information. Specifically, we use similarity constraints to capture the relationship between available information and privileged…

We study a multiclass multiple instance learning (MIL) problem where the labels only suggest whether any instance of a class exists or does not exist in a training sample or example. No further information, e.g., the number of instances of…

Cross-modal hashing (CMH) facilitates efficient retrieval across different modalities (e.g., image and text) by encoding data into compact binary representations. While recent methods have achieved remarkable performance, they often rely…

In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

Data similarity (or distance) computation is a fundamental research topic which underpins many high-level applications based on similarity measures in machine learning and data mining. However, in large-scale real-world scenarios, the exact…

Masked image modeling (MIM) with transformer backbones has recently been exploited as a powerful self-supervised pre-training technique. The existing MIM methods adopt the strategy to mask random patches of the image and reconstruct the…

Vision-language models (VLMs) like CLIP have demonstrated impressive zero-shot ability in image classification tasks by aligning text and images but suffer inferior performance compared with task-specific expert models. On the contrary,…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

Low-shot learning indicates the ability to recognize unseen objects based on very limited labeled training samples, which simulates human visual intelligence. According to this concept, we propose a multi-level similarity model (MLSM) to…

A key functional block of visual navigation system for intelligent autonomous vehicles is Loop Closure detection and subsequent relocalisation. State-of-the-Art methods still approach the problem as uni-directional along the direction of…

Learning hash functions/codes for similarity search over multi-view data is attracting increasing attention, where similar hash codes are assigned to the data objects characterizing consistently neighborhood relationship across views.…

Binary vector embeddings enable fast nearest neighbor retrieval in large databases of high-dimensional objects, and play an important role in many practical applications, such as image and video retrieval. We study the problem of learning…

Binary code similarity comparison is a methodology for identifying similar or identical code fragments in binary programs. It is indispensable in fields of software engineering and security, which has many important applications (e.g.,…

While convolution and self-attention are extensively used in learned image compression (LIC) for transform coding, this paper proposes an alternative called Contextual Clustering based LIC (CLIC) which primarily relies on clustering…

Large Vision-Language Models (LVLMs) are susceptible to object hallucinations, an issue in which their generated text contains non-existent objects, greatly limiting their reliability and practicality. Current approaches often rely on the…

Pre-trained vision-language models like CLIP have recently shown superior performances on various downstream tasks, including image classification and segmentation. However, in fine-grained image re-identification (ReID), the labels are…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…