相关论文: Salient Bundle Adjustment for Visual SLAM

One major branch of saliency object detection methods is diffusion-based which construct a graph model on a given image and diffuse seed saliency values to the whole graph by a diffusion matrix. While their performance is sensitive to…

One of the fundamental properties of a salient object region is its contrast with the immediate context. The problem is that numerous object regions exist which potentially can all be salient. One way to prevent an exhaustive search over…

In this paper, we show that existing recognition and localization deep architectures, that have not been exposed to eye tracking data or any saliency datasets, are capable of predicting the human visual saliency. We term this as implicit…

Nearly all existing visual saliency models by far have focused on predicting a universal saliency map across all observers. Yet psychology studies suggest that visual attention of different observers can vary significantly under specific…

The role of long- and short-term dynamics towards salient object detection in videos is under-researched. We present a Transformer-based approach to learn a joint representation of video frames and past saliency information. Our model…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

Incorporating human-perceptual intelligence into model training has shown to increase the generalization capability of models in several difficult biometric tasks, such as presentation attack detection (PAD) and detection of synthetic…

In the area of human fixation prediction, dozens of computational saliency models are proposed to reveal certain saliency characteristics under different assumptions and definitions. As a result, saliency model benchmarking often requires…

Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…

Predicting attention is a popular topic at the intersection of human and computer vision. However, even though most of the available video saliency data sets and models claim to target human observers' fixations, they fail to differentiate…

In this work, we address the problem of measuring and predicting temporal video saliency - a metric which defines the importance of a video frame for human attention. Unlike the conventional spatial saliency which defines the location of…

Segmenting salient objects in an image is an important vision task with ubiquitous applications. The problem becomes more challenging in the presence of a cluttered and textured background, low resolution and/or low contrast images. Even…

Saliency Prediction aims to predict the attention distribution of human eyes given an RGB image. Most of the recent state-of-the-art methods are based on deep image feature representations from traditional CNNs. However, the traditional…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

This work explores attention models to weight the contribution of local convolutional representations for the instance search task. We present a retrieval framework based on bags of local convolutional features (BLCF) that benefits from…

Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…

Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…

A deep feature based saliency model (DeepFeat) is developed to leverage the understanding of the prediction of human fixations. Traditional saliency models often predict the human visual attention relying on few level image cues. Although…

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…