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

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

This paper introduces a novel method for determining the best room to place an object in, for embodied scene rearrangement. While state-of-the-art approaches rely on large language models (LLMs) or reinforcement learned (RL) policies for…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches…

This paper presents a method of capturing objects appearances from its environment and it also describes how to recognize unknown appearances creating an eigenspace. This representation and recognition can be done automatically taking…

Mobile robots and autonomous vehicles are often required to function in environments where critical position estimates from sensors such as GPS become uncertain or unreliable. Single image visual place recognition (VPR) provides an…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

This paper introduces a new algorithm for unsupervised learning of keypoint detectors and descriptors, which demonstrates fast convergence and good performance across different datasets. The training procedure uses homographic…

Visual Place Recognition (VPR) is the task of retrieving database images similar to a query photo by comparing it to a large database of known images. In real-world applications, extreme illumination changes caused by query images taken at…

We address the problem of learning a single model for person re-identification, attribute classification, body part segmentation, and pose estimation. With predictions for these tasks we gain a more holistic understanding of persons, which…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

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…

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…

Autoencoders are commonly trained using element-wise loss. However, element-wise loss disregards high-level structures in the image which can lead to embeddings that disregard them as well. A recent improvement to autoencoders that helps…

Depictions of similar human body configurations can vary with changing viewpoints. Using only 2D information, we would like to enable vision algorithms to recognize similarity in human body poses across multiple views. This ability is…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Current deep learning methods for object recognition are purely data-driven and require a large number of training samples to achieve good results. Due to their sole dependence on image data, these methods tend to fail when confronted with…