相关论文: Adversarial Training for Adverse Conditions: Robus…

Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…

Visual recognition under adverse conditions is a very important and challenging problem of high practical value, due to the ubiquitous existence of quality distortions during image acquisition, transmission, or storage. While deep neural…

We presented a method for improving computer vision tasks on images affected by adverse weather conditions, including distortions caused by adherent raindrops. Overcoming the challenge of applying computer vision to images affected by…

The goal of this work is to improve images of traffic scenes that are degraded by natural causes such as fog, rain and limited visibility during the night. For these applications, it is next to impossible to get pixel perfect pairs of the…

Appearance changes due to weather and seasonal conditions represent a strong impediment to the robust implementation of machine learning systems in outdoor robotics. While supervised learning optimises a model for the training domain, it…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Image features for retrieval-based localization must be invariant to dynamic objects (e.g. cars) as well as seasonal and daytime changes. Such invariances are, up to some extent, learnable with existing methods using triplet-like losses,…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

Despite unconditional feature inversion being the foundation of many image synthesis applications, training an inverter demands a high computational budget, large decoding capacity and imposing conditions such as autoregressive priors. To…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

In this work, we study the image transformation problem, which targets at learning the underlying transformations (e.g., the transition of seasons) from a collection of unlabeled images. However, there could be countless of transformations…

Transfer learning has emerged as a powerful methodology for adapting pre-trained deep neural networks on image recognition tasks to new domains. This process consists of taking a neural network pre-trained on a large feature-rich source…

We propose a novel visual localization network when outside environment has changed such as different illumination, weather and season. The visual localization network is composed of a feature extraction network and pose regression network.…

Object detection in road scenes is necessary to develop both autonomous vehicles and driving assistance systems. Even if deep neural networks for recognition task have shown great performances using conventional images, they fail to detect…

We propose a novel end-to-end semi-supervised adversarial framework to generate photorealistic face images of new identities with wide ranges of expressions, poses, and illuminations conditioned by a 3D morphable model. Previous adversarial…

This paper addresses the limitations of adverse weather image restoration approaches trained on synthetic data when applied to real-world scenarios. We formulate a semi-supervised learning framework employing vision-language models to…

Place recognition is an essential component of Simultaneous Localization And Mapping (SLAM). Under severe appearance change, reliable place recognition is a difficult perception task since the same place is perceptually very different in…