相关论文: Visual Localization Under Appearance Change: Filte…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…

The appearance of the world varies dramatically not only from place to place but also from hour to hour and month to month. Every day billions of images capture this complex relationship, many of which are associated with precise time and…

In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…

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…

For convolutional neural network models that optimize an image embedding, we propose a method to highlight the regions of images that contribute most to pairwise similarity. This work is a corollary to the visualization tools developed for…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

This work introduces a simulator-based benchmark for visual localization in the autonomous navigation context. The dynamic benchmark enables investigation of how variables such as the time of day, weather, and camera perspective affect the…

Cross-view geo-localization aims to estimate the GPS location of a query ground-view image by matching it to images from a reference database of geo-tagged aerial images. To address this challenging problem, recent approaches use panoramic…

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from…

Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…

Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent, as agents often have no prior knowledge about the…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…

While substantial progress has been made in the absolute performance of localization and Visual Place Recognition (VPR) techniques, it is becoming increasingly clear from translating these systems into applications that other capabilities…

This paper introduces a novel approach to enhancing cross-view localization, focusing on the fine-grained, sequential localization of street-view images within a single known satellite image patch, a significant departure from traditional…

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…

We consider detecting objects in an image by iteratively selecting from a set of arbitrarily shaped candidate regions. Our generic approach, which we term visual chunking, reasons about the locations of multiple object instances in an image…

Autonomous Vehicles (AV) are becoming more capable of navigating in complex environments with dynamic and changing conditions. A key component that enables these intelligent vehicles to overcome such conditions and become more autonomous is…

This paper presents a visual geo-localization system capable of determining the geographic locations of places (buildings and road intersections) from images without relying on GPS data. Our approach integrates three primary methods:…