相关论文: Efficient Decentralized Visual Place Recognition F…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

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…

Image clustering is one of the most important computer vision applications, which has been extensively studied in literature. However, current clustering methods mostly suffer from lack of efficiency and scalability when dealing with…

We propose an attentive local feature descriptor suitable for large-scale image retrieval, referred to as DELF (DEep Local Feature). The new feature is based on convolutional neural networks, which are trained only with image-level…

Image retrieval in realistic scenarios targets large dynamic datasets of unlabeled images. In these cases, training or fine-tuning a model every time new images are added to the database is neither efficient nor scalable. Convolutional…

In the Bag-of-Words (BoW) model based image retrieval task, the precision of visual matching plays a critical role in improving retrieval performance. Conventionally, local cues of a keypoint are employed. However, such strategy does not…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

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…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and…

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…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

The success of deep learning techniques in the computer vision domain has triggered a range of initial investigations into their utility for visual place recognition, all using generic features from networks that were trained for other…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

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…

In this paper, we investigate the problem of learning feature representation from unlabeled data using a single-layer K-means network. A K-means network maps the input data into a feature representation by finding the nearest centroid for…

Nowadays, distributed smart cameras are deployed for a wide set of tasks in several application scenarios, ranging from object recognition, image retrieval, and forensic applications. Due to limited bandwidth in distributed systems,…

Feature point matching for camera localization suffers from scalability problems. Even when feature descriptors associated with 3D scene points are locally unique, as coverage grows, similar or repeated features become increasingly common.…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Clustering algorithms are one of the main analytical methods to detect patterns in unlabeled data. Existing clustering methods typically treat samples in a dataset as points in a metric space and compute distances to group together similar…