相关论文: Discriminative and Semantic Feature Selection for …

Autonomous robots, autonomous vehicles, and humans wearing mixed-reality headsets require accurate and reliable tracking services for safety-critical applications in dynamically changing real-world environments. However, the existing…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

The application of machine learning to image and video data often yields a high dimensional feature space. Effective feature selection techniques identify a discriminant feature subspace that lowers computational and modeling costs with…

Indoor scene images usually contain scattered objects and various scene layouts, which make RGB-D scene classification a challenging task. Existing methods still have limitations for classifying scene images with great spatial variability.…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

In this paper, we address the problem of action recognition from still images and videos. Traditional local features such as SIFT, STIP etc. invariably pose two potential problems: 1) they are not evenly distributed in different entities of…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

In order to encode the class correlation and class specific information in image representation, we propose a new local feature learning approach named Deep Discriminative and Shareable Feature Learning (DDSFL). DDSFL aims to hierarchically…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…

Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…

Local feature detection and description play an important role in many computer vision tasks, which are designed to detect and describe keypoints in "any scene" and "any downstream task". Data-driven local feature learning methods need to…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and…

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage…

In this paper, we introduce a novel network, called discriminative feature network (DFNet), to address the unsupervised video object segmentation task. To capture the inherent correlation among video frames, we learn discriminative features…

Structured latent attribute models (SLAMs) are a special family of discrete latent variable models widely used in social and biological sciences. This paper considers the problem of learning significant attribute patterns from a SLAM with…