相关论文: Salient Bundle Adjustment for Visual SLAM

Computational saliency models for still images have gained significant popularity in recent years. Saliency prediction from videos, on the other hand, has received relatively little interest from the community. Motivated by this, in this…

Salient object detection has increasingly become a popular topic in cognitive and computational sciences, including computer vision and artificial intelligence research. In this paper, we propose integrating \textit{semantic priors} into…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

This paper presents a novel deep architecture for saliency prediction. Current state of the art models for saliency prediction employ Fully Convolutional networks that perform a non-linear combination of features extracted from the last…

A saliency guided hierarchical visual tracking (SHT) algorithm containing global and local search phases is proposed in this paper. In global search, a top-down saliency model is novelly developed to handle abrupt motion and appearance…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…

Traditional gaze estimation methods typically require explicit user calibration to achieve high accuracy. This process is cumbersome and recalibration is often required when there are changes in factors such as illumination and pose. To…

The different families of saliency methods, either based on contrastive signals, closed-form formulas mixing gradients with activations or on perturbation masks, all focus on which parts of an image are responsible for the model's…

Class activation map (CAM) helps to formulate saliency maps that aid in interpreting the deep neural network's prediction. Gradient-based methods are generally faster than other branches of vision interpretability and independent of human…

Saliency methods provide post-hoc model interpretation by attributing input features to the model outputs. Current methods mainly achieve this using a single input sample, thereby failing to answer input-independent inquiries about the…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

As a fundamental task for intelligent robots, visual SLAM has made great progress over the past decades. However, robust SLAM under highly weak-textured environments still remains very challenging. In this paper, we propose a novel visual…

With the rapid development of deep learning techniques, image saliency deep models trained solely by spatial information have occasionally achieved detection performance for video data comparable to that of the models trained by both…

Learning computational models for visual attention (saliency estimation) is an effort to inch machines/robots closer to human visual cognitive abilities. Data-driven efforts have dominated the landscape since the introduction of deep neural…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

Saliency prediction can be of great benefit for 360-degree image/video applications, including compression, streaming , rendering and viewpoint guidance. It is therefore quite natural to adapt the 2D saliency prediction methods for…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…

We propose to employ a saliency-driven hierarchical neural image compression network for a machine-to-machine communication scenario following the compress-then-analyze paradigm. By that, different areas of the image are coded at different…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…