相关论文: Dominating Set Database Selection for Visual Place…

Event cameras continue to attract interest due to desirable characteristics such as high dynamic range, low latency, virtually no motion blur, and high energy efficiency. One of the potential applications that would benefit from these…

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…

Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…

This paper tackles the problem of large-scale image-based localization (IBL) where the spatial location of a query image is determined by finding out the most similar reference images in a large database. For solving this problem, a…

Visual place recognition (VPR), a fundamental task in computer vision and robotics, is the problem of identifying a place mainly based on visual information. Viewpoint and appearance changes, such as due to weather and seasonal variations,…

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…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…

Visual data, such as an image or a sequence of video frames, is often naturally represented as a point set. In this paper, we consider the fundamental problem of finding a nearest set from a collection of sets, to a query set. This problem…

Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient lighting conditions during day and night. Moreover, a…

The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…

We describe an approach to learning rich representations for images, that enables simple and effective predictors in a range of vision tasks involving spatially structured maps. Our key idea is to map small image elements to feature…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

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…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

As an important part of linear perspective, vanishing points (VPs) provide useful clues for mapping objects from 2D photos to 3D space. Existing methods are mainly focused on extracting structural features such as lines or contours and then…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Visual relationship detection, as a challenging task used to find and distinguish the interactions between object pairs in one image, has received much attention recently. In this work, we propose a novel visual relationship detection…

Image set recognition has been widely applied in many practical problems like real-time video retrieval and image caption tasks. Due to its superior performance, it has grown into a significant topic in recent years. However, images with…