相关论文: Condition-Invariant Multi-View Place Recognition

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

This paper provides an extensive study on the availability of image representations based on convolutional networks (ConvNets) for the task of visual instance retrieval. Besides the choice of convolutional layers, we present an efficient…

Image recognition using Deep Learning has been evolved for decades though advances in the field through different settings is still a challenge. In this paper, we present our findings in searching for better image classifiers in offline and…

Previous works on multi-label image recognition (MLIR) usually use CNNs as a starting point for research. In this paper, we take pure Vision Transformer (ViT) as the research base and make full use of the advantages of Transformer with…

Typical attempts to improve the capability of visual place recognition techniques include the use of multi-sensor fusion and integration of information over time from image sequences. These approaches can improve performance but have…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…

After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…

Current deep learning methods for object recognition are purely data-driven and require a large number of training samples to achieve good results. Due to their sole dependence on image data, these methods tend to fail when confronted with…

Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesizing database images from unseen viewpoints using NeRF…

Visual recognition under adverse conditions is a very important and challenging problem of high practical value, due to the ubiquitous existence of quality distortions during image acquisition, transmission, or storage. While deep neural…

Deep domain adaption has emerged as a new learning technique to address the lack of massive amounts of labeled data. Compared to conventional methods, which learn shared feature subspaces or reuse important source instances with shallow…

We propose a novel visual localization network when outside environment has changed such as different illumination, weather and season. The visual localization network is composed of a feature extraction network and pose regression network.…

Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Previous work has shown that feature maps of deep convolutional neural networks (CNNs) can be interpreted as feature representation of a particular image region. Features aggregated from these feature maps have been exploited for image…

Domain adaptation (DA) aims at improving the performance of a model on target domains by transferring the knowledge contained in different but related source domains. With recent advances in deep learning models which are extremely data…

This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…