相关论文: Fast and Incremental Loop Closure Detection with D…

This paper proposes a simple yet effective approach to learn visual features online for improving loop-closure detection and place recognition, based on bag-of-words frameworks. The approach learns a codeword in bag-of-words model from a…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Feature matching across video streams remains a cornerstone challenge in computer vision. Increasingly, robust multimodal matching has garnered interest in robotics, surveillance, remote sensing, and medical imaging. While traditional rely…

This paper proposes an end-to-end trainable one-stage parking slot detection method for around view monitor (AVM) images. The proposed method simultaneously acquires global information (entrance, type, and occupancy of parking slot) and…

In this work, we propose a new data visualization and clustering technique for discovering discriminative structures in high-dimensional data. This technique, referred to as cPCA++, utilizes the fact that the interesting features of a…

Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…

We propose a method to address challenges in unconstrained face detection, such as arbitrary pose variations and occlusions. First, a new image feature called Normalized Pixel Difference (NPD) is proposed. NPD feature is computed as the…

Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Feature detection is an important procedure for image matching, where unsupervised feature detection methods are the detection approaches that have been mostly studied recently, including the ones that are based on repeatability requirement…

In recent years, deep learning has achieved remarkable success in the field of image restoration. However, most convolutional neural network-based methods typically focus on a single scale, neglecting the incorporation of multi-scale…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

We propose a random convolutional neural network to generate a feature space in which we study image classification and retrieval performance. Put briefly we apply random convolutional blocks followed by global average pooling to generate a…

Community detection is a discovery tool used by network scientists to analyze the structure of real-world networks. It seeks to identify natural divisions that may exist in the input networks that partition the vertices into coherent…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…