相关论文: iBoW-LCD: An Appearance-based Loop Closure Detecti…

We introduce MOD-CL, a multi-label object detection framework that utilizes constrained loss in the training process to produce outputs that better satisfy the given requirements. In this paper, we use $\mathrm{MOD_{YOLO}}$, a multi-label…

Drone-based target detection presents inherent challenges, such as the high density and overlap of targets in drone-based images, as well as the blurriness of targets under varying lighting conditions, which complicates identification.…

Despite great progress in object detection, most existing methods work only on a limited set of object categories, due to the tremendous human effort needed for bounding-box annotations of training data. To alleviate the problem, recent…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

Occlusion handling is one of the challenges of object detection and segmentation, and scene understanding. Because objects appear differently when they are occluded in varying degree, angle, and locations. Therefore, determining the…

Document understanding aims to perform question answering and information extraction over document images, where the visual content is highly information-dense and most queries rely on only a few relevant layout regions. However, existing…

Utilizing large language models (LLMs) to compose off-the-shelf visual tools represents a promising avenue of research for developing robust visual assistants capable of addressing diverse visual tasks. However, these methods often overlook…

In this paper, we present a new fault diagnosis (FD) -based approach for detection of imagery changes that can detect significant changes as inconsistencies between different sub-modules (e.g., self-localizaiton) of visual SLAM. Unlike…

Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…

One popular approach to interactively segment the foreground object of interest from an image is to annotate a bounding box that covers the foreground object. Then, a binary labeling is performed to achieve a refined segmentation. One major…

In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and…

Existing open-vocabulary object detection (OVD) develops methods for testing unseen categories by aligning object region embeddings with corresponding VLM features. A recent study leverages the idea that VLMs implicitly learn compositional…

The introduction of embedding techniques has pushed forward significantly the Natural Language Processing field. Many of the proposed solutions have been presented for word-level encoding; anyhow, in the last years, new mechanism to treat…

Traditional object detection models are constrained by the limitations of closed-set datasets, detecting only categories encountered during training. While multimodal models have extended category recognition by aligning text and image…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a…

We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point clouds, followed by an overlap calculation to confirm whether…

In-loop filtering (ILF) is a key technology for removing the artifacts in image/video coding standards. Recently, neural network-based in-loop filtering methods achieve remarkable coding gains beyond the capability of advanced video coding…

Despite the longstanding adage "an image is worth a thousand words," generating accurate hyper-detailed image descriptions remains unsolved. Trained on short web-scraped image text, vision-language models often generate incomplete…

Word embedding models learn semantically rich vector representations of words and are widely used to initialize natural processing language (NLP) models. The popular continuous bag-of-words (CBOW) model of word2vec learns a vector embedding…