相关论文: Augmenting Visual Place Recognition with Structura…

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…

Recent work by Suenderhauf et al. [1] demonstrated improved visual place recognition using proposal regions coupled with features from convolutional neural networks (CNN) to match landmarks between views. In this work we extend the approach…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…

Recently Convolutional Neural Networks (CNNs) have been shown to achieve state-of-the-art performance on various classification tasks. In this paper, we present for the first time a place recognition technique based on CNN models, by…

CNNs have made a tremendous impact on the field of computer vision in the last several years. The main component of any CNN architecture is the convolution operation, which is translation invariant by design. However, location in itself can…

We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We…

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…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

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…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Visual correspondence is a crucial step in key computer vision tasks, including camera localization, image registration, and structure from motion. The most effective techniques for matching keypoints currently involve using learned sparse…

Image representations derived from pre-trained Convolutional Neural Networks (CNNs) have become the new state of the art in computer vision tasks such as instance retrieval. This work explores the suitability for instance retrieval of…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…

The ability to accurately detect and classify objects at varying pixel sizes in cluttered scenes is crucial to many Navy applications. However, detection performance of existing state-of the-art approaches such as convolutional neural…

Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

Crowdsourced 3D CAD models are becoming easily accessible online, and can potentially generate an infinite number of training images for almost any object category.We show that augmenting the training data of contemporary Deep Convolutional…