相关论文: Scene Retrieval for Contextual Visual Mapping

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…

For crowded scenes, the accuracy of object-based computer vision methods declines when the images are low-resolution and objects have severe occlusions. Taking counting methods for example, almost all the recent state-of-the-art counting…

Image registration is a process of aligning two or more images of same objects using geometric transformation. Most of the existing approaches work on the assumption of location invariance. These approaches require object-centric images to…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

Convolutional Neural Networks (CNNs) have achieved superior performance on object image retrieval, while Bag-of-Words (BoW) models with handcrafted local features still dominate the retrieval of overlapping images in 3D reconstruction. In…

Finding the conceptual difference between the two images in an industrial environment has been especially important for HSE purposes and there is still no reliable and conformable method to find the major differences to alert the related…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

We present a context aware object detection method based on a retrieve-and-transform scene layout model. Given an input image, our approach first retrieves a coarse scene layout from a codebook of typical layout templates. In order to…

Scene recognition, particularly for aerial and underwater images, often suffers from various types of degradation, such as blurring or overexposure. Previous works that focus on convolutional neural networks have been shown to be able to…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

Training a modern deep neural network on massive labeled samples is the main paradigm in solving the scene classification problem for remote sensing, but learning from only a few data points remains a challenge. Existing methods for…

Human-object interaction recognition aims for identifying the relationship between a human subject and an object. Researchers incorporate global scene context into the early layers of deep Convolutional Neural Networks as a solution. They…

We investigate the problem of identifying objects that have been added, removed, or moved between a pair of captures (images or videos) of the same scene at different times. Accurately identifying verifiable changes is extremely challenging…

We aim to localize objects in images using image-level supervision only. Previous approaches to this problem mainly focus on discriminative object regions and often fail to locate precise object boundaries. We address this problem by…

Visual events are usually accompanied by sounds in our daily lives. However, can the machines learn to correlate the visual scene and sound, as well as localize the sound source only by observing them like humans? To investigate its…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…

We explore multi-scale convolutional neural nets (CNNs) for image classification. Contemporary approaches extract features from a single output layer. By extracting features from multiple layers, one can simultaneously reason about high,…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Synthesizing photo-realistic images and videos is at the heart of computer graphics and has been the focus of decades of research. Traditionally, synthetic images of a scene are generated using rendering algorithms such as rasterization or…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…