相关论文: Inside Out Visual Place Recognition

Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are…

This paper aims to investigate representation learning for large scale visual place recognition, which consists of determining the location depicted in a query image by referring to a database of reference images. This is a challenging task…

A recent approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques simultaneously. However, selecting the optimal set of techniques to use in a specific…

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…

Event cameras continue to attract interest due to desirable characteristics such as high dynamic range, low latency, virtually no motion blur, and high energy efficiency. One of the potential applications that would benefit from these…

Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have shown promise for efficient inference, they often struggle with…

Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This…

Signage is everywhere and a robot should be able to take advantage of signs to help it localize (including Visual Place Recognition (VPR)) and map. Robust text detection & recognition in the wild is challenging due to such factors as pose,…

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane…

While substantial progress has been made in the absolute performance of localization and Visual Place Recognition (VPR) techniques, it is becoming increasingly clear from translating these systems into applications that other capabilities…

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images.…

Compared with an extensive list of automotive radar datasets that support autonomous driving, indoor radar datasets are scarce at a smaller scale in the format of low-resolution radar point clouds and usually under an open-space single-room…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying a specific place. But this concept of utility is not…

Visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the…

Searching by image is popular yet still challenging due to the extensive interference arose from i) data variations (e.g., background, pose, visual angle, brightness) of real-world captured images and ii) similar images in the query…

Visible light positioning(VLP) has gained prominence as a highly accurate indoor positioning technique. Few techniques consider the practical limitations of implementing VLP systems for indoor positioning. These limitations range from…

We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…

Traditional visual place recognition (VPR), usually using standard cameras, is easy to fail due to glare or high-speed motion. By contrast, event cameras have the advantages of low latency, high temporal resolution, and high dynamic range,…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…