相关论文: Probabilistic Visual Place Recognition for Hierarc…

In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…

This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the…

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…

Calisthenics skill classification is the computer vision task of inferring the skill performed by an athlete from images, enabling automatic performance assessment and personalized analytics. Traditional methods for calisthenics skill…

In this paper we introduce a new camera localization strategy designed for image sequences captured in challenging industrial situations such as industrial parts inspection. To deal with peculiar appearances that hurt standard 3D…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Fine-grained visual recognition is challenging because it highly relies on the modeling of various semantic parts and fine-grained feature learning. Bilinear pooling based models have been shown to be effective at fine-grained recognition,…

We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…

Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches…

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…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While VPR techniques built upon a Convolutional Neural Network (CNN) backbone dominate state-of-the-art VPR…

Cross-modal localization has drawn increasing attention in recent years, while the visual relocalization in prior LiDAR maps is less studied. Related methods usually suffer from inconsistency between the 2D texture and 3D geometry,…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

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…