相关论文: Efficient Match Pair Retrieval for Large-scale UAV…

Image-based localization in GNSS-denied environments is critical for UAV autonomy. Existing state-of-the-art approaches rely on matching UAV images to geo-referenced satellite images; however, they typically require large-scale, paired…

Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…

The cost-effective visual representation and fast query-by-example search are two challenging goals that should be maintained for web-scale visual retrieval tasks on moderate hardware. This paper introduces a fast and robust method that…

3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…

The unique cost, flexibility, speed, and efficiency of modern UAVs make them an attractive choice in many applications in contemporary society. This, however, causes an ever-increasing number of reported malicious or accidental incidents,…

Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…

Although much significant progress has been made in the research field of object detection with deep learning, there still exists a challenging task for the objects with small size, which is notably pronounced in UAV-captured images.…

SLAM technology plays a crucial role in indoor mapping and localization. A common challenge in indoor environments is the "double-sided mapping issue", where closely positioned walls, doors, and other surfaces are mistakenly identified as a…

The increasing demand for data usage in wireless communications requires using wider bands in the spectrum, especially for backhaul links. Yet, allocations in the spectrum for non-communication systems inhibit merging bands to achieve wider…

This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…

The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…

Line matching plays an essential role in structure from motion (SFM) and simultaneous localization and mapping (SLAM), especially in low-textured and repetitive scenes. In this paper, we present a new method of using a graph convolution…

Conventional approaches to image-text retrieval mainly focus on indexing visual objects appearing in pictures but ignore the interactions between these objects. Such objects occurrences and interactions are equivalently useful and important…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

Structure from Motion (SfM) using imagery that involves extreme appearance changes is yet a challenging task due to a loss of feature repeatability. Using feature correspondences obtained by matching densely extracted convolutional neural…

Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…

This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…

Stereo matching is a fundamental task for 3D scene reconstruction. Recently, deep learning based methods have proven effective on some benchmark datasets, such as KITTI and Scene Flow. UAVs (Unmanned Aerial Vehicles) are commonly utilized…