相关论文: SFD2: Semantic-guided Feature Detection and Descri…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Planet-scale photo geolocalization is the complex task of estimating the location depicted in an image solely based on its visual content. Due to the success of convolutional neural networks (CNNs), current approaches achieve super-human…

A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…

Semantic segmentation is an important task that helps autonomous vehicles understand their surroundings and navigate safely. During deployment, even the most mature segmentation models are vulnerable to various external factors that can…

Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

We propose an attentive local feature descriptor suitable for large-scale image retrieval, referred to as DELF (DEep Local Feature). The new feature is based on convolutional neural networks, which are trained only with image-level…

This paper describes a fast and accurate semantic image segmentation approach that encodes not only the discriminative features from deep neural networks, but also the high-order context compatibility among adjacent objects as well as low…

Semantic Segmentation (SS) is the task to assign a semantic label to each pixel of the observed images, which is of crucial significance for autonomous vehicles, navigation assistance systems for the visually impaired, and augmented reality…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Understanding where drivers direct their visual attention during driving, as characterized by gaze behavior, is critical for developing next-generation advanced driver-assistance systems and improving road safety. This paper tackles this…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Researchers have attempted utilizing deep neural network (DNN) to learn novel local features from images inspired by its recent successes on a variety of vision tasks. However, existing DNN-based algorithms have not achieved such remarkable…

Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

Numerous navigation applications rely on data from global navigation satellite systems (GNSS), even though their accuracy is compromised in urban areas, posing a significant challenge, particularly for precise autonomous car localization.…

In this paper, we present a novel approach that exploits the information within the descriptor space to propose keypoint locations. Detect then describe, or detect and describe jointly are two typical strategies for extracting local…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

We tackle the problem of finding accurate and robust keypoint correspondences between images. We propose a learning-based approach to guide local feature matches via a learned approximate image matching. Our approach can boost the results…