相关论文: Salient Bundle Adjustment for Visual SLAM

Most of the saliency methods are evaluated on their ability to generate saliency maps, and not on their functionality in a complete vision pipeline, like for instance, image classification. In the current paper, we propose an approach which…

We introduce a saliency-based distortion layer for convolutional neural networks that helps to improve the spatial sampling of input data for a given task. Our differentiable layer can be added as a preprocessing block to existing task…

Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…

A Very recent trend has emerged to couple the notion of interpretability and adversarial robustness, unlike earlier efforts which solely focused on good interpretations or robustness against adversaries. Works have shown that adversarially…

This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for…

High-quality saliency maps are essential in several machine learning application areas including explainable AI and weakly supervised object detection and segmentation. Many techniques have been developed to generate better saliency using…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has posed new demanding…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

This paper investigates the role of saliency to improve the classification accuracy of a Convolutional Neural Network (CNN) for the case when scarce training data is available. Our approach consists in adding a saliency branch to an…

Recently, there has been a growing interest in developing saliency methods that provide visual explanations of network predictions. Still, the usability of existing methods is limited to image classification models. To overcome this…

In recent years, deep saliency models have made significant progress in predicting human visual attention. However, the mechanisms behind their success remain largely unexplained due to the opaque nature of deep neural networks. In this…

Due to a variety of motions across different frames, it is highly challenging to learn an effective spatiotemporal representation for accurate video saliency prediction (VSP). To address this issue, we develop an effective spatiotemporal…

The ability of accurate depth prediction by a convolutional neural network (CNN) is a major challenge for its wide use in practical visual simultaneous localization and mapping (SLAM) applications, such as enhanced camera tracking and dense…

To predict the most salient regions of complex natural scenes, saliency models commonly compute several feature maps (contrast, orientation, motion...) and linearly combine them into a master saliency map. Since feature maps have different…

Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…

Selective attention is an essential mechanism to filter sensory input and to select only its most important components, allowing the capacity-limited cognitive structures of the brain to process them in detail. The saliency map model,…

We present a novel approach for saliency prediction in images, leveraging parallel decoding in transformers to learn saliency solely from fixation maps. Models typically rely on continuous saliency maps, to overcome the difficulty of…

Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…

Visual saliency, which predicts regions in the field of view that draw the most visual attention, has attracted a lot of interest from researchers. It has already been used in several vision tasks, e.g., image classification, object…