相关论文: Where is your place, Visual Place Recognition?
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…
As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…
Mesh-based scene representation offers a promising direction for simplifying large-scale hierarchical visual localization pipelines, combining a visual place recognition step based on global features (retrieval) and a visual localization…
Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…
Visual Spatial Reasoning (VSR) is a core human cognitive ability and a critical requirement for advancing embodied intelligence and autonomous systems. Despite recent progress in Vision-Language Models (VLMs), achieving human-level VSR…
VPR is a fundamental task for autonomous navigation as it enables a robot to localize itself in the workspace when a known location is detected. Although accuracy is an essential requirement for a VPR technique, computational and energy…
Single-view place recognition, that we can define as finding an image that corresponds to the same place as a given query image, is a key capability for autonomous navigation and mapping. Although there has been a considerable amount of…
Visual Place Recognition (VPR) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
A key capability required by service robots operating in real-world, dynamic environments is that of Visual Intelligence, i.e., the ability to use their vision system, reasoning components and background knowledge to make sense of their…
Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using…
Visual Place Recognition (VPR) is crucial in computer vision, aiming to retrieve database images similar to a query image from an extensive collection of known images. However, like many vision tasks, VPR always degrades at night due to the…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
In assistive robotics serving people with disabilities (PWD), accurate place recognition in built environments is crucial to ensure that robots navigate and interact safely within diverse indoor spaces. Language interfaces, particularly…
Visual place recognition (VPR) is usually considered as a specific image retrieval problem. Limited by existing training frameworks, most deep learning-based works cannot extract sufficiently stable global features from RGB images and rely…
Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…
Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have shown promise for efficient inference, they often struggle with…
In robotics, Visual Place Recognition is a continuous process that receives as input a video stream to produce a hypothesis of the robot's current position within a map of known places. This task requires robust, scalable, and efficient…
Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…