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

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Over the past years, computer vision community has contributed to enormous progress in semantic image segmentation, a per-pixel classification task, crucial for dense scene understanding and rapidly becoming vital in lots of real-world…

In this paper, we demonstrate that the concept of Semantic Consistency and the ensuing method of Knowledge-Aware Re-Optimization can be adapted for the problem of object detection in intricate traffic scenes. Furthermore, we introduce a…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…

In this paper, we propose a monocular visual localization pipeline leveraging semantic and depth cues. We apply semantic consistency evaluation to rank the image retrieval results and a practical clustering technique to reject estimation…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

We propose a new fast fully unsupervised method to discover semantic patterns. Our algorithm is able to hierarchically find visual categories and produce a segmentation mask where previous methods fail. Through the modeling of what is a…

Features play an important role in various visual tasks, especially in visual place recognition applied in perceptual changing environments. In this paper, we address the challenges of place recognition due to dynamics and confusable…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Semantic 2D maps are commonly used by humans and machines for navigation purposes, whether it's walking or driving. However, these maps have limitations: they lack detail, often contain inaccuracies, and are difficult to create and…

Current major approaches to visual recognition follow an end-to-end formulation that classifies an input image into one of the pre-determined set of semantic categories. Parametric softmax classifiers are a common choice for such a closed…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…