相关论文: LaLaLoc: Latent Layout Localisation in Dynamic, Un…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Neural-network-based approaches recently emerged in the field of data compression and have already led to significant progress in image compression, especially in achieving a higher compression ratio. In the lossless image compression…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…

Learning disentangled representations is a key step towards effectively discovering and modelling the underlying structure of environments. In the natural sciences, physics has found great success by describing the universe in terms of…

We present a deep learning framework, called DuLa-Net, to predict Manhattan-world 3D room layouts from a single RGB panorama. To achieve better prediction accuracy, our method leverages two projections of the panorama at once, namely the…

In this paper, a simultaneous localization and mapping (SLAM) method that eliminates the influence of moving objects in dynamic environments is proposed. This method utilizes the correlation between map points to separate points that are…

A main challenge in target localization arises from the lack of reliable distance measures. This issue is especially pronounced in indoor settings due to the presence of walls, floors, furniture, and other dynamically changing conditions…

We present the first self-supervised method to train panoramic room layout estimation models without any labeled data. Unlike per-pixel dense depth that provides abundant correspondence constraints, layout representation is sparse and…

Versatile and adaptive semantic understanding would enable autonomous systems to comprehend and interact with their surroundings. Existing fixed-class models limit the adaptability of indoor mobile and assistive autonomous systems. In this…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

We propose a method for predicting the location of user equipment (UE) using wireless fingerprints in dynamic indoor non-line-of-sight (NLoS) environments. In particular, our method copes with the challenges posed by the drift, birth, and…

Humans use their knowledge of common house layouts obtained from previous experiences to predict nearby rooms while navigating in new environments. This greatly helps them navigate previously unseen environments and locate their target…

Visual localization plays an important role in the applications of Augmented Reality (AR), which enable AR devices to obtain their 6-DoF pose in the pre-build map in order to render virtual content in real scenes. However, most existing…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Understanding and reasoning about places and their relationships are critical for many applications. Places are traditionally curated by a small group of people as place gazetteers and are represented by an ID with spatial extent, category,…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…