相关论文: Long-term Visual Map Sparsification with Heterogen…

Spectral graph sparsification is a classical tool for reducing graph complexity while preserving Laplacian quadratic forms. In graph neural networks (GNNs), sparsification is often used to accelerate computation while maintaining predictive…

Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

The task of large-scale retrieval-based image localization is to estimate the geographical location of a query image by recognizing its nearest reference images from a city-scale dataset. However, the general public benchmarks only provide…

In recent years, Graph Neural Networks (GNNs) have been popular in the graph classification task. Currently, shallow GNNs are more common due to the well-known over-smoothing problem facing deeper GNNs. However, they are sub-optimal without…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

As real-world graphs expand in size, larger GNN models with billions of parameters are deployed. High parameter count in such models makes training and inference on graphs expensive and challenging. To reduce the computational and memory…

Jumping connections enable Graph Convolutional Networks (GCNs) to overcome over-smoothing, while graph sparsification reduces computational demands by selecting a sub-matrix of the graph adjacency matrix during neighborhood aggregation.…

Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…

Estimating the geographical range of a species from sparse observations is a challenging and important geospatial prediction problem. Given a set of locations where a species has been observed, the goal is to build a model to predict…

In the weakly supervised localization setting, supervision is given as an image-level label. We propose to employ an image classifier $f$ and to train a generative network $g$ that outputs, given the input image, a per-pixel weight map that…

3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…

In the Global Navigation Satellite System (GNSS) context, the growing number of available satellites has lead to many challenges when it comes to choosing the most accurate pseudorange contributions, given the strong impact of biased…

In intelligent cartographic generation tasks empowered by generative models, the authenticity of synthesized maps constitutes a critical determinant. Concurrently, the selection of appropriate evaluation metrics to quantify map authenticity…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

We address the problem of sparse selection of visual features for localizing a team of robots navigating an unknown environment, where robots can exchange relative position measurements with neighbors. We select a set of the most…

Bottom-up approaches for image-based multi-person pose estimation consist of two stages: (1) keypoint detection and (2) grouping of the detected keypoints to form person instances. Current grouping approaches rely on learned embedding from…

Graph sparsification is a key technique for improving inference efficiency in Graph Neural Networks by removing edges with minimal impact on predictions. GNN explainability methods generate local importance scores, which can be aggregated…

Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving.…