相关论文: Automatic Vocabulary and Graph Verification for Ac…

We present data-driven techniques to augment Bag of Words (BoW) models, which allow for more robust modeling and recognition of complex long-term activities, especially when the structure and topology of the activities are not known a…

Visual loop closure detection traditionally relies on place recognition methods to retrieve candidate loops that are validated using computationally expensive RANSAC-based geometric verification. As false positive loop closures…

In this paper, we propose a new, scalable approach for the task of object based image search or object recognition. Despite the very large literature existing on the scalability issues in CBIR in the sense of retrieval approaches, the…

In this work, we propose an open-vocabulary object detection method that, based on image-caption pairs, learns to detect novel object classes along with a given set of known classes. It is a two-stage training approach that first uses a…

In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use semantic registration to estimate the 6 DoF relative pose…

Word embedding has become ubiquitous and is widely used in various natural language processing (NLP) tasks, such as web retrieval, web semantic analysis, and machine translation, and so on. Unfortunately, training the word embedding in a…

Imagine being able to show a system a visual depiction of a keyword and finding spoken utterances that contain this keyword from a zero-resource speech corpus. We formalise this task and call it visually prompted keyword localisation…

Robots are often required to localize in environments with unknown object classes and semantic ambiguity. However, when performing global localization using semantic objects, high semantic ambiguity intensifies object misclassification and…

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art…

In this paper, we introduce AE-FABMAP, a new self-supervised bag of words-based SLAM method. We also present AE-ORB-SLAM, a modified version of the current state of the art BoW-based path planning algorithm. That is, we have used a deep…

Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a…

Modern circuit design process increasingly adopts high-level hardware construction languages and parameterized design methodologies to shorten development cycles and maintain high reusability, in contrast to traditional hardware description…

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…

The objective of this work is to reconstruct an original image from Bag-of-Visual-Words (BoVW). Image reconstruction from features can be a means of identifying the characteristics of features. Additionally, it enables us to generate novel…

Due to the prevalence of mobile devices, mobile search becomes a more convenient way than desktop search. Different from the traditional desktop search, mobile visual search needs more consideration for the limited resources on mobile…

In this paper, we propose a supervised dictionary learning algorithm that aims to preserve the local geometry in both dimensions of the data. A graph-based regularization explicitly takes into account the local manifold structure of the…

Much of the progress in contemporary NLP has come from learning representations, such as masked language model (MLM) contextual embeddings, that turn challenging problems into simple classification tasks. But how do we quantify and explain…

This paper addresses the problem of change detection from a novel perspective of long-term map learning. We are particularly interested in designing an approach that can scale to large maps and that can function under global uncertainty in…

Visual learning problems such as object classification and action recognition are typically approached using extensions of the popular bag-of-words (BoW) model. Despite its great success, it is unclear what visual features the BoW model is…

Existing object detection methods are bounded in a fixed-set vocabulary by costly labeled data. When dealing with novel categories, the model has to be retrained with more bounding box annotations. Natural language supervision is an…