相关论文: GeoDesc: Learning Local Descriptors by Integrating…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

Lane segmentation is a challenging issue in autonomous driving system designing because lane marks show weak textural consistency due to occlusion or extreme illumination but strong geometric continuity in traffic images, from which general…

3D Convolutional Neural Networks (3D-CNN) have been used for object recognition based on the voxelized shape of an object. However, interpreting the decision making process of these 3D-CNNs is still an infeasible task. In this paper, we…

In this paper, we propose to augment image-based place recognition with structural cues. Specifically, these structural cues are obtained using structure-from-motion, such that no additional sensors are needed for place recognition. This is…

Accurate indoor localization remains challenging due to variations in wireless signal environments and limited data availability. This paper introduces MetaGraphLoc, a novel system leveraging sensor fusion, graph neural networks (GNNs), and…

Self-supervision can dramatically cut back the amount of manually-labelled data required to train deep neural networks. While self-supervision has usually been considered for tasks such as image classification, in this paper we aim at…

Convolutional Neural Networks (CNNs) are a standard approach for visual recognition due to their capacity to learn hierarchical representations from raw pixels. In practice, practitioners often choose among (i) training a compact custom CNN…

3D object detection from a single image without LiDAR is a challenging task due to the lack of accurate depth information. Conventional 2D convolutions are unsuitable for this task because they fail to capture local object and its scale…

We integrate two powerful ideas, geometry and deep visual representation learning, into recurrent network architectures for mobile visual scene understanding. The proposed networks learn to "lift" and integrate 2D visual features over time…

Geodesic distances on manifolds have numerous applications in image processing, computer graphics and computer vision. In this work, we introduce an approach called `LGGD' (Learned Generalized Geodesic Distances). This method involves…

While convolutional neural networks are dominating the field of computer vision, one usually does not have access to the large amount of domain-relevant data needed for their training. It thus became common to use available synthetic…

Keypoint detection and description is fundamental yet important in many vision applications. Most existing methods use detect-then-describe or detect-and-describe strategy to learn local features without considering their context…

Local learning of sparse image models has proven to be very effective to solve inverse problems in many computer vision applications. To learn such models, the data samples are often clustered using the K-means algorithm with the Euclidean…

We present GeGnn, a learning-based method for computing the approximate geodesic distance between two arbitrary points on discrete polyhedra surfaces with constant time complexity after fast precomputation. Previous relevant methods either…

We propose a new geometric method for measuring the quality of representations obtained from deep learning. Our approach, called Random Polytope Descriptor, provides an efficient description of data points based on the construction of…

Keypoint detection is a pivotal step in 3D reconstruction, whereby sets of (up to) K points are detected in each view of a scene. Crucially, the detected points need to be consistent between views, i.e., correspond to the same 3D point in…

In this paper, we present a novel approach for contour detection with Convolutional Neural Networks. A multi-scale CNN learning framework is designed to automatically learn the most relevant features for contour patch detection. Our method…

Accurate pedestrian detection has a primary role in automotive safety: for example, by issuing warnings to the driver or acting actively on car's brakes, it helps decreasing the probability of injuries and human fatalities. In order to…

Deep learning with Convolutional Neural Networks has shown great promise in various areas of image-based classification and enhancement but is often unsuitable for predictive modeling involving non-image based features or features without…

Convolutional neural networks have recently shown excellent results in general object detection and many other tasks. Albeit very effective, they involve many user-defined design choices. In this paper we want to better understand these…