相关论文: Rethinking Visual Geo-localization for Large-Scale…

After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…

Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…

In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

Cross-View Geo-Localization (CVGL) in remote sensing aims to locate a drone-view query by matching it to geo-tagged satellite images. Although supervised methods have achieved strong results on closeset benchmarks, they often fail to…

Is it possible to build a system to determine the location where a photo was taken using just its pixels? In general, the problem seems exceptionally difficult: it is trivial to construct situations where no location can be inferred. Yet…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While Convolution Neural Networks (CNNs) currently dominate state-of-the-art VPR performance, their high…

Visual localization is of great importance in robotics and computer vision. Recently, scene coordinate regression based methods have shown good performance in visual localization in small static scenes. However, it still estimates camera…

Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…

We tackle the problem of large scale visual place recognition, where the task is to quickly and accurately recognize the location of a given query photograph. We present the following three principal contributions. First, we develop a…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

We address the task of cross-domain visual place recognition, where the goal is to geolocalize a given query image against a labeled gallery, in the case where the query and the gallery belong to different visual domains. To achieve this,…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…

Recalling the most relevant visual memories for localisation or understanding a priori the likely outcome of localisation effort against a particular visual memory is useful for efficient and robust visual navigation. Solutions to this…

Images incorporate a wealth of information from a robot's surroundings. With the widespread availability of compact cameras, visual information has become increasingly popular for addressing the localisation problem, which is then termed as…

Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…

Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…