相关论文: OpenMPR: Recognize Places Using Multimodal Data fo…
Visual Place Recognition (VPR) enables robust localization through image retrieval based on learned descriptors. However, drastic appearance variations of images at the same place caused by viewpoint changes can lead to inconsistent…
Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sensing capabilities and measurement consistency even in varying…
State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…
In recent years there has been significant improvement in the capability of Visual Place Recognition (VPR) methods, building on the success of both hand-crafted and learnt visual features, temporal filtering and usage of semantic scene…
Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Place recognition is an essential and challenging task in loop closing and global localization for robotics and autonomous driving applications. Benefiting from the recent advances in deep learning techniques, the performance of LiDAR place…
The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…
Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to…
Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such…
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…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Visual place recognition (VPR) is an essential component of many autonomous and augmented/virtual reality systems. It enables the systems to robustly localize themselves in large-scale environments. Existing VPR methods demonstrate…
Over 43 million people worldwide live with severe visual impairment, facing significant challenges in navigating unfamiliar environments. We present MR.NAVI, a mixed reality system that enhances spatial awareness for visually impaired users…
Visual Place Recognition (VPR) is critical for autonomous navigation, yet state-of-the-art methods lack well-calibrated uncertainty estimation. Standard pipelines cannot reliably signal when a query is ambiguous or a match is likely…
Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure…
Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…
Visual Place Recognition (VPR) has seen significant advances at the frontiers of matching performance and computational superiority over the past few years. However, these evaluations are performed for ground-based mobile platforms and…
People with visual impairments often face significant challenges in locating and retrieving objects in their surroundings. Existing assistive technologies present a trade-off: systems that offer precise guidance typically require…
A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…