相关论文: Lightweight Unsupervised Deep Loop Closure

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

This paper introduces an efficient and robust method for discovering interpretable circuits in large language models using discrete sparse autoencoders. Our approach addresses key limitations of existing techniques, namely computational…

The backdoor attack poses a new security threat to deep neural networks. Existing backdoor often relies on visible universal trigger to make the backdoored model malfunction, which are not only usually visually suspicious to human but also…

Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the…

This paper focuses on hyperspectral image (HSI) super-resolution that aims to fuse a low-spatial-resolution HSI and a high-spatial-resolution multispectral image to form a high-spatial-resolution HSI (HR-HSI). Existing deep learning-based…

Ensuring robustness in image watermarking is crucial for and maintaining content integrity under diverse transformations. Recent self-supervised learning (SSL) approaches, such as DINO, have been leveraged for watermarking but primarily…

Deep learning models are increasingly deployed in safety-critical tasks where predictions must satisfy hard constraints, such as physical laws, fairness requirements, or safety limits. However, standard architectures lack built-in…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

Biological visual systems learn from limited experience, unlike deep learning models that rely on millions of training images. What learning principles make this possible? We tested whether efficient coding, the idea that neural…

Deep learning models for human activity recognition (HAR) based on sensor data have been heavily studied recently. However, the generalization ability of deep models on complex real-world HAR data is limited by the availability of…

Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map…

Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM…

In this paper a semi-supervised deep framework is proposed for the problem of 3D shape inverse rendering from a single 2D input image. The main structure of proposed framework consists of unsupervised pre-trained components which…

Deep neural networks can model images with rich latent representations, but they cannot naturally conceptualize structures of object categories in a human-perceptible way. This paper addresses the problem of learning object structures in an…

The goal of neural-symbolic computation is to integrate the connectionist and symbolist paradigms. Prior methods learn the neural-symbolic models using reinforcement learning (RL) approaches, which ignore the error propagation in the…

Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

Traditional feature-based image stitching technologies rely heavily on feature detection quality, often failing to stitch images with few features or low resolution. The learning-based image stitching solutions are rarely studied due to the…

Implicit representations are widely used for object reconstruction due to their efficiency and flexibility. In 2021, a novel structure named neural implicit map has been invented for incremental reconstruction. A neural implicit map…