相关论文: Inside Out Visual Place Recognition

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…

Large-scale visual place recognition (VPR) is inherently challenging because not all visual cues in the image are beneficial to the task. In order to highlight the task-relevant visual cues in the feature embedding, the existing attention…

Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using…

We introduce the task of Image-Set Visual Question Answering (ISVQA), which generalizes the commonly studied single-image VQA problem to multi-image settings. Taking a natural language question and a set of images as input, it aims to…

Visual place recognition (VPR) is a fundamental task for many applications such as robot localization and augmented reality. Recently, the hierarchical VPR methods have received considerable attention due to the trade-off between accuracy…

We present VIINTER, a method for view interpolation by interpolating the implicit neural representation (INR) of the captured images. We leverage the learned code vector associated with each image and interpolate between these codes to…

We propose a novel inverse rendering method that enables the transformation of existing indoor panoramas with new indoor furniture layouts under natural illumination. To achieve this, we captured indoor HDR panoramas along with real-time…

The paper presents an approach to indoor personal localization on a mobile device based on visual place recognition. We implemented on a smartphone two state-of-the-art algorithms that are representative to two different approaches to…

Visual Place Recognition (VPR) is the task of matching current visual imagery from a camera to images stored in a reference map of the environment. While initial VPR systems used simple direct image methods or hand-crafted visual features,…

Our perceptions are guided both by the bottom-up information entering our eyes, as well as our top-down expectations of what we will see. Although bottom-up visual processing has been extensively studied, comparatively little is known about…

Event stream-based Visual Place Recognition (VPR) is an emerging research direction that offers a compelling solution to the instability of conventional visible-light cameras under challenging conditions such as low illumination,…

Feature extraction plays an important role in visual localization. Unreliable features on dynamic objects or repetitive regions will interfere with feature matching and challenge indoor localization greatly. To address the problem, we…

Visual Place Recognition (VPR) is a crucial component of many visual localization pipelines for embodied agents. VPR is often formulated as an image retrieval task aimed at jointly learning local features and an aggregation method. The…

Room reidentification (ReID) is a challenging yet essential task with numerous applications in fields such as augmented reality (AR) and homecare robotics. Existing visual place recognition (VPR) methods, which typically rely on global…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…

The Imagenet Large Scale Visual Recognition Challenge (ILSVRC) is the one of the most important big data challenges to date. We participated in the object detection track of ILSVRC 2014 and received the fourth place among the 38 teams. We…

In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present VIZARD, a visual localization system for urban outdoor environments. By combining a…