相关论文: Place Recognition under Occlusion and Changing App…

As an increasing amount of image and video content will be analyzed by machines, there is demand for a new codec paradigm that is capable of compressing visual input primarily for the purpose of computer vision inference, while secondarily…

The localization of moving robots depends on the availability of good features from the environment. Sensor systems like Lidar are popular, but unique features can also be extracted from images of the ground. This work presents the Keypoint…

Object encoding and identification are crucial for many robotic tasks such as autonomous exploration and semantic relocalization. Existing works heavily rely on the tracking of detected objects but have difficulty recalling revisited…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

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…

Image captioning has been shown as an effective pretraining method similar to contrastive pretraining. However, the incorporation of location-aware information into visual pretraining remains an area with limited research. In this paper, we…

Sparse coding is a common approach to learning local features for object recognition. Recently, there has been an increasing interest in learning features from spatio-temporal, binocular, or other multi-observation data, where the goal is…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Recently, occluded person re-identification(Re-ID) remains a challenging task that people are frequently obscured by other people or obstacles, especially in a crowd massing situation. In this paper, we propose a self-supervised deep…

In many robotic domains such as flexible automated manufacturing or personal assistance, a fundamental perception task is that of identifying and localizing objects whose 3D models are known. Canonical approaches to this problem include…

Deep feature spaces have the capacity to encode complex transformations of their input data. However, understanding the relative feature-space relationship between two transformed encoded images is difficult. For instance, what is the…

Change detection, or anomaly detection, from street-view images acquired by an autonomous robot at multiple different times, is a major problem in robotic mapping and autonomous driving. Formulation as an image comparison task, which…

Compression technology is essential for efficient image transmission and storage. With the rapid advances in deep learning, images are beginning to be used for image recognition as well as for human vision. For this reason, research has…

Mobile service robots can benefit from object-level understanding of their environments, including the ability to distinguish object instances and re-identify previously seen instances. Object re-identification is challenging across…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…

Occlusion-aware instance-sensitive segmentation is a complex task generally split into region-based segmentations, by approximating instances as their bounding box. We address the showcase scenario of dense homogeneous layouts in which this…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communication bandwidth is a considerable constraint when a robot…