相关论文: Self-supervised Vector-Quantization in Visual SLAM…

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

This paper presents a feature encoding method of complex 3D objects for high-level semantic features. Recent approaches to object recognition methods become important for semantic simultaneous localization and mapping (SLAM). However, there…

In this paper, we propose an artificial intelligence (AI)-enhanced hybrid simultaneous localization and mapping (SLAM) method that performs Bayesian inference directly on raw radio-frequency (RF) signals while learning an environment model…

Localizing pre-visited places during long-term simultaneous localization and mapping, i.e. loop closure detection (LCD), is a crucial technique to correct accumulated inconsistencies. As one of the most effective and efficient solutions,…

Monocular visual simultaneous localization and mapping (V-SLAM) is nowadays an irreplaceable tool in mobile robotics and augmented reality, where it performs robustly. However, human colonoscopies pose formidable challenges like occlusions,…

Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from deep…

Ground texture localization using a downward-facing camera offers a low-cost, high-precision localization solution that is robust to dynamic environments and requires no environmental modification. We present a significantly improved…

An important challenge in emotion recognition is to develop methods that can leverage unlabeled training data. In this paper, we propose the VQ-MAE-AV model, a self-supervised multimodal model that leverages masked autoencoders to learn…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Vector Quantized Variational Autoencoders (VQ-VAEs) are fundamental to modern generative modeling, yet they often suffer from training instability and "codebook collapse" due to the inherent coupling of representation learning and discrete…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

This paper explores an expression-related self-supervised learning (SSL) method (ContraWarping) to perform expression classification in the 5th Affective Behavior Analysis in-the-wild (ABAW) competition. Affective datasets are expensive to…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

We present vMAP, an object-level dense SLAM system using neural field representations. Each object is represented by a small MLP, enabling efficient, watertight object modelling without the need for 3D priors. As an RGB-D camera browses a…

We present SelfPrompt, a novel prompt-tuning approach for vision-language models (VLMs) in a semi-supervised learning setup. Existing methods for tuning VLMs in semi-supervised setups struggle with the negative impact of the miscalibrated…

Weakly supervised learning has emerged as an appealing alternative to alleviate the need for large labeled datasets in semantic segmentation. Most current approaches exploit class activation maps (CAMs), which can be generated from…

Traditional Bag-of-visual Words (BoWs) model is commonly generated with many steps including local feature extraction, codebook generation, and feature quantization, etc. Those steps are relatively independent with each other and are hard…