相关论文: Unsupervised Place Recognition with Deep Embedding…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving the place recognition problem with complex radar data. Our method is based on invariant instance feature learning but is tailored for…

Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled…

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…

Unsupervised approaches to learning in neural networks are of substantial interest for furthering artificial intelligence, both because they would enable the training of networks without the need for large numbers of expensive annotations,…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Because of the rich dynamical structure of videos and their ubiquity in everyday life, it is a natural idea that video data could serve as a powerful unsupervised learning signal for training visual representations in deep neural networks.…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based…

This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave radar - a commercially promising sensor poised for exploitation in mobile autonomy. We…

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…

In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…

We present a heterogeneous localization framework for solving radar global localization and pose tracking on pre-built lidar maps. To bridge the gap of sensing modalities, deep neural networks are constructed to create shared embedding…

This work explores how to use self-supervised learning on videos to learn a class-specific image embedding that encodes pose and shape information. At train time, two frames of the same video of an object class (e.g. human upper body) are…

Deep convolutional neural networks (CNNs) have demonstrated remarkable success in computer vision by supervisedly learning strong visual feature representations. However, training CNNs relies heavily on the availability of exhaustive…

Deep networks are successfully used as classification models yielding state-of-the-art results when trained on a large number of labeled samples. These models, however, are usually much less suited for semi-supervised problems because of…

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…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

Visual place recognition (VPR) using deep networks has achieved state-of-the-art performance. However, most of them require a training set with ground truth sensor poses to obtain positive and negative samples of each observation's spatial…

Autonomous Vehicles (AV) are becoming more capable of navigating in complex environments with dynamic and changing conditions. A key component that enables these intelligent vehicles to overcome such conditions and become more autonomous is…

In this paper, we present a technique for unsupervised learning of visual representations. Specifically, we train a model for foreground and background classification task, in the process of which it learns visual representations.…