相关论文: Augmenting Visual Place Recognition with Structura…

Visual place recognition (VPR) plays a crucial role in robotic localization and navigation. The key challenge lies in constructing feature representations that are robust to environmental changes. Existing methods typically adopt…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Local feature provides compact and invariant image representation for various visual tasks. Current deep learning-based local feature algorithms always utilize convolution neural network (CNN) architecture with limited receptive field.…

The segmentation of organs in volumetric medical images plays an important role in computer-aided diagnosis and treatment/surgery planning. Conventional 2D convolutional neural networks (CNNs) can hardly exploit the spatial correlation of…

Image retrieval in realistic scenarios targets large dynamic datasets of unlabeled images. In these cases, training or fine-tuning a model every time new images are added to the database is neither efficient nor scalable. Convolutional…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…

It remains a challenge to efficiently extract spatialtemporal information from skeleton sequences for 3D human action recognition. Although most recent action recognition methods are based on Recurrent Neural Networks which present…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Context in image is crucial for scene labeling while existing methods only exploit local context generated from a small surrounding area of an image patch or a pixel, by contrast long-range and global contextual information is ignored. To…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…

Methods from computational topology are becoming more and more popular in computer vision and have shown to improve the state-of-the-art in several tasks. In this paper, we investigate the applicability of topological descriptors in the…