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Sampling is ubiquitous in machine learning methodologies. Due to the growth of large datasets and model complexity, we want to learn and adapt the sampling process while training a representation. Towards achieving this grand goal, a…

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising…

The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Any city-scale visual localization system has to overcome long-term appearance changes, such as varying illumination conditions or seasonal changes between query and database images. Since semantic content is more robust to such changes, we…

Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…

Image retrieval can be formulated as a ranking problem where the goal is to order database images by decreasing similarity to the query. Recent deep models for image retrieval have outperformed traditional methods by leveraging…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…

In deep neural nets, lower level embedding layers account for a large portion of the total number of parameters. Tikhonov regularization, graph-based regularization, and hard parameter sharing are approaches that introduce explicit biases…

Scene coordinates regression (SCR), i.e., predicting 3D coordinates for every pixel of a given image, has recently shown promising potential. However, existing methods remain limited to small scenes memorized during training, and thus…

Most of the existing methods for estimating the local intrinsic dimension of a data distribution do not scale well to high-dimensional data. Many of them rely on a non-parametric nearest neighbors approach which suffers from the curse of…

We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…

As artificial intelligence advances rapidly, particularly with the advent of GANs and diffusion models, the accuracy of Image Inpainting Localization (IIL) has become increasingly challenging. Current IIL methods face two main challenges: a…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…