相关论文: Detection-by-Localization: Maintenance-Free Change…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…

We propose a method for annotating the location of objects in ImageNet. Traditionally, this is cast as an image window classification problem, where each window is considered independently and scored based on its appearance alone. Instead,…

Active learning for object detection is conventionally achieved by applying techniques developed for classification in a way that aggregates individual detections into image-level selection criteria. This is typically coupled with the…

We propose Rank & Sort (RS) Loss, a ranking-based loss function to train deep object detection and instance segmentation methods (i.e. visual detectors). RS Loss supervises the classifier, a sub-network of these methods, to rank each…

TThe goal of our work is to discover dominant objects in a very general setting where only a single unlabeled image is given. This is far more challenge than typical co-localization or weakly-supervised localization tasks. To tackle this…

We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…

Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

We introduce LOCORE, Long-Context Re-ranker, a model that takes as input local descriptors corresponding to an image query and a list of gallery images and outputs similarity scores between the query and each gallery image. This model is…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Instance-level image retrieval is the task of searching in a large database for images that match an object in a query image. To address this task, systems usually rely on a retrieval step that uses global image descriptors, and a…

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Local feature matching enjoys wide-ranging applications in the realm of computer vision, encompassing domains such as image retrieval, 3D reconstruction, and object recognition. However, challenges persist in improving the accuracy and…

In this paper, we present a novel affine-invariant feature based on SIFT, leveraging the regular appearance of man-made objects. The feature achieves full affine invariance without needing to simulate over affine parameter space. Low-rank…