相关论文: EigenPlaces: Training Viewpoint Robust Models for …

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert…

Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure…

Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Predicting masked from visible parts of an image is a powerful self-supervised approach for visual representation learning. However, the common practice of masking random patches of pixels exhibits certain failure modes, which can prevent…

Visual Place Recognition (VPR) is generally concerned with localizing outdoor images. However, localizing indoor scenes that contain part of an outdoor scene can be of large value for a wide range of applications. In this paper, we…

Cross-modal retrieval methods have been significantly improved in last years with the use of deep neural networks and large-scale annotated datasets such as ImageNet and Places. However, collecting and annotating such datasets requires a…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

This paper adapts a general dataset representation technique to produce robust Visual Place Recognition (VPR) descriptors, crucial to enable real-world mobile robot localisation. Two parallel lines of work on VPR have shown, on one side,…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…

Visual Transformers (VTs) are emerging as an architectural paradigm alternative to Convolutional networks (CNNs). Differently from CNNs, VTs can capture global relations between image elements and they potentially have a larger…

Recognising previously visited locations is an important, but unsolved, task in autonomous navigation. Current visual place recognition (VPR) benchmarks typically challenge models to recover the position of a query image (or images) from…

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…

As it is empirically observed that Vision Transformers (ViTs) are quite insensitive to the order of input tokens, the need for an appropriate self-supervised pretext task that enhances the location awareness of ViTs is becoming evident. To…

Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. In this work, we…

When a human drives a car along a road for the first time, they later recognize where they are on the return journey typically without needing to look in their rear-view mirror or turn around to look back, despite significant viewpoint and…

Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…

Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geometric cues alone (e.g., covisibility graphs), limiting their…