相关论文: Long-Term Ensemble Learning of Visual Place Classi…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

Fine-grained visual classification (FGVC) aims to distinguish the sub-classes of the same category and its essential solution is to mine the subtle and discriminative regions. Convolution neural networks (CNNs), which employ the cross…

This paper presents a new approach for training two-stage object detection ensemble models, more specifically, Faster R-CNN models to estimate uncertainty. We propose training one Region Proposal Network(RPN) and multiple Fast R-CNN…

Object category localization is a challenging problem in computer vision. Standard supervised training requires bounding box annotations of object instances. This time-consuming annotation process is sidestepped in weakly supervised…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

Localization is an essential capability for mobile robots. A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize previously seen places in the world based solely on images.…

One of the well-known challenges in computer vision tasks is the visual diversity of images, which could result in an agreement or disagreement between the learned knowledge and the visual content exhibited by the current observation. In…

In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

Visual place recognition (VPR) plays a crucial role in robotic localization and navigation. The key challenge lies in constructing feature representations that are robust to environmental changes. Existing methods typically adopt…

We propose a transfer learning-based solution for the problem of multiple class novelty detection. In particular, we propose an end-to-end deep-learning based approach in which we investigate how the knowledge contained in an external,…

After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…

Visual place recognition is particularly challenging when places suffer changes in its appearance. Such changes are indeed common, e.g., due to weather, night/day or seasons. In this paper we leverage on recent research using deep networks,…

Continual learning (CL) aims to empower models to learn new tasks without forgetting previously acquired knowledge. Most prior works concentrate on the techniques of architectures, replay data, regularization, \etc. However, the category…

Unconstrained video recognition and Deep Convolution Network (DCN) are two active topics in computer vision recently. In this work, we apply DCNs as frame-based recognizers for video recognition. Our preliminary studies, however, show that…

Deep learning has been extensively explored to solve vehicle routing problems (VRPs), which yields a range of data-driven neural solvers with promising outcomes. However, most neural solvers are trained to tackle VRP instances in a…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…