相关论文: Domain-invariant NBV Planner for Active Cross-doma…

During the past decade, deep neural networks have led to fast-paced progress and significant achievements in computer vision problems, for both academia and industry. Yet despite their success, state-of-the-art image classification…

Despite the significant success of deep learning in computer vision tasks, cross-domain tasks still present a challenge in which the model's performance will degrade when the training set and the test set follow different distributions.…

In recent years, object detection has shown impressive results using supervised deep learning, but it remains challenging in a cross-domain environment. The variations of illumination, style, scale, and appearance in different domains can…

Medical imaging systems are commonly assessed by use of objective image quality measures. Supervised deep learning methods have been investigated to implement numerical observers for task-based image quality assessment. However, labeling…

The task of Visual Place Recognition (VPR) is to predict the location of a query image from a database of geo-tagged images. Recent studies in VPR have highlighted the significant advantage of employing pre-trained foundation models like…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

In this study, we address the problem of supervised change detection for robotic map learning applications, in which the aim is to train a place-specific change classifier (e.g., support vector machine (SVM)) to predict changes from a…

While pole-like structures are widely recognized as stable geometric anchors for long-term robot localization, their identification reliability degrades significantly under Pole-at-Distance (Pad) observations typical of large-scale urban…

Deep learning models heavily rely on large scale annotated datasets for training. Unfortunately, datasets cannot capture the infinite variability of the real world, thus neural networks are inherently limited by the restricted visual and…

Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…

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…

We tackle the problem of visual localization under changing conditions, such as time of day, weather, and seasons. Recent learned local features based on deep neural networks have shown superior performance over classical hand-crafted local…

While deep neural networks demonstrate state-of-the-art performance on a variety of learning tasks, their performance relies on the assumption that train and test distributions are the same, which may not hold in real-world applications.…

Deep Neural Networks inherit spurious correlations embedded in training data and hence may fail to predict desired labels on unseen domains (or environments), which have different distributions from the domain used in training. Invariance…

The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…

In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of…

Visual Place Recognition (VPR) is a major challenge for robotics and autonomous systems, with the goal of predicting the location of an image based solely on its visual features. State-of-the-art (SOTA) models extract global descriptors…

Over the last years, dictionary learning method has been extensively applied to deal with various computer vision recognition applications, and produced state-of-the-art results. However, when the data instances of a target domain have a…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…