相关论文: Improving Road Segmentation in Challenging Domains…

Recent studies show that the visual place recognition (VPR) method using pre-trained visual foundation models can achieve promising performance. In our previous work, we propose a novel method to realize seamless adaptation of foundation…

Detecting vehicles in aerial imagery is a critical task with applications in traffic monitoring, urban planning, and defense intelligence. Deep learning methods have provided state-of-the-art (SOTA) results for this application. However, a…

Pixel-level annotations are expensive and time consuming to obtain. Hence, weak supervision using only image tags could have a significant impact in semantic segmentation. Recently, CNN-based methods have proposed to fine-tune pre-trained…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

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,…

The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

Stand-alone Visual Place Recognition (VPR) systems have little defence against a well-designed adversarial attack, which can lead to disastrous consequences when deployed for robot navigation. This paper extensively analyzes the effect of…

Deep neural networks for aerial image segmentation require large amounts of labeled data, but high-quality aerial datasets with precise annotations are scarce and costly to produce. To address this limitation, we propose a self-supervised…

This paper investigates the application of the latest machine learning technique deep neural networks for classifying road surface conditions (RSC) based on images from smartphones. Traditional machine learning techniques such as support…

Despite many advances in deep-learning based semantic segmentation, performance drop due to distribution mismatch is often encountered in the real world. Recently, a few domain adaptation and active learning approaches have been proposed to…

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…

The problem of image segmentation is known to become particularly challenging in the case of partial occlusion of the object(s) of interest, background clutter, and the presence of strong noise. To overcome this problem, the present paper…

Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…

We present a weakly-supervised approach to segmenting proposed drivable paths in images with the goal of autonomous driving in complex urban environments. Using recorded routes from a data collection vehicle, our proposed method generates…

Compared to conventional cameras, event cameras provide a high dynamic range and low latency, offering greater robustness to rapid motion and challenging lighting conditions. Although the potential of event cameras for visual place…

VPR is a fundamental task for autonomous navigation as it enables a robot to localize itself in the workspace when a known location is detected. Although accuracy is an essential requirement for a VPR technique, computational and energy…

This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that utilizes the BEV representation in feature extraction, feature…

With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…

Visual Place Recognition (VPR) in long-term deployment requires reasoning beyond pixel similarity: systems must make transparent, interpretable decisions that remain robust under lighting, weather and seasonal change. We present Text2Graph…

Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…