相关论文: A location-aware embedding technique for accurate …

Visual Place Recognition is a challenging task for robotics and autonomous systems, which must deal with the twin problems of appearance and viewpoint change in an always changing world. This paper introduces Patch-NetVLAD, which provides a…

With the advances in both stable interest region detectors and robust and distinctive descriptors, local feature-based image or object retrieval has become a popular research topic. %All of the local feature-based image retrieval system…

Vectors of Locally Aggregated Descriptors (VLAD) have emerged as powerful image/video representations that compete with or even outperform state-of-the-art approaches on many challenging visual recognition tasks. In this paper, we address…

We present a novel compact image descriptor for large scale image search. Our proposed descriptor - Geometric VLAD (gVLAD) is an extension of VLAD (Vector of Locally Aggregated Descriptors) that incorporates weak geometry information into…

We tackle the problem of large scale visual place recognition, where the task is to quickly and accurately recognize the location of a given query photograph. We present the following three principal contributions. First, we develop a…

Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…

In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting…

In this work, we introduce LEAD, an approach to discover landmarks from an unannotated collection of category-specific images. Existing works in self-supervised landmark detection are based on learning dense (pixel-level) feature…

In this paper, we propose VLASE, a framework to use semantic edge features from images to achieve on-road localization. Semantic edge features denote edge contours that separate pairs of distinct objects such as building-sky, road-…

The objective of this paper is to design an embedding method that maps local features describing an image (e.g. SIFT) to a higher dimensional representation useful for the image retrieval problem. First, motivated by the relationship…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

For face presentation attack detection (PAD), most of the spoofing cues are subtle, local image patterns (e.g., local image distortion, 3D mask edge and cut photo edges). The representations of existing PAD works with simple global pooling…

Crowd counting is an important task in computer vision, which has many applications in video surveillance. Although the regression-based framework has achieved great improvements for crowd counting, how to improve the discriminative power…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Image hash algorithms generate compact binary representations that can be quickly matched by Hamming distance, thus become an efficient solution for large-scale image retrieval. This paper proposes RV-SSDH, a deep image hash algorithm that…

Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with feature-based localization. These methods rely on direct matching…