相关论文: Where is your place, Visual Place Recognition?

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

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…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes. An emerging trend in VPR is the use of sequence-based filtering…

The generation of synthetic novel views has the potential to positively impact robot navigation in several ways. In image-based navigation, a novel overhead view generated from a scene taken by a ground robot could be used to guide an…

Visual Place Recognition (VPR) is a fundamental task that allows a robotic platform to successfully localise itself in the environment. For decentralised VPR applications where the visual data has to be transmitted between several agents,…

Given a query image, Visual Place Recognition (VPR) is the task of retrieving an image of the same place from a reference database with robustness to viewpoint and appearance changes. Recent works show that some VPR benchmarks are solved by…

Visual Place Recognition (VPR) is generally concerned with localizing outdoor images. However, localizing indoor scenes that contain part of an outdoor scene can be of large value for a wide range of applications. In this paper, we…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved…

Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying a specific place. But this concept of utility is not…

A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Visual Place Recognition (VPR) is critical for autonomous navigation, yet state-of-the-art methods lack well-calibrated uncertainty estimation. Standard pipelines cannot reliably signal when a query is ambiguous or a match is likely…

Recent studies show that vision models pre-trained in generic visual learning tasks with large-scale data can provide useful feature representations for a wide range of visual perception problems. However, few attempts have been made to…