相关论文: Leveraging Cutting Edge Deep Learning Based Image …

We propose an image representation and matching approach that substantially improves visual-based location estimation for images. The main novelty of the approach, called distinctive visual element matching (DVEM), is its use of…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Currently, a prevalent approach for enhancing Vision-Language Models (VLMs) performance is to encode both the high-resolution version and the thumbnail of an image simultaneously. While effective, this method generates a large number of…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Current Deep Learning methods for environment segmentation and velocity estimation rely on Convolutional Recurrent Neural Networks to exploit spatio-temporal relationships within obtained sensor data. These approaches derive scene dynamics…

In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

Robots equipped with situational awareness can help humans efficiently find their lost objects by leveraging spatial and temporal structure. Existing approaches to video and image retrieval do not take into account the unique constraints…

The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods that re-order the…

This paper presents an innovative framework for remote sensing image analysis by fusing deep learning techniques, specifically Convolutional Neural Networks (CNNs) and Long Short-Term Memory (LSTM) networks, with Geographic Information…

We propose a convolutional neural network (ConvNet) based approach for learning local image descriptors which can be used for significantly improved patch matching and 3D reconstructions. A multi-resolution ConvNet is used for learning…

Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

In this work, we introduce a deep-learning framework designed for estimating dense image correspondences. Our fully convolutional model generates dense feature maps for images, where each pixel is associated with a descriptor that can be…

Feature matching between image pairs is a fundamental problem in computer vision that drives many applications, such as SLAM. Recently, semi-dense matching approaches have achieved substantial performance enhancements and established a…

We propose self-supervised deep algorithms to detect anomalies in heterogeneous autonomous systems using frontal camera video and IMU readings. Given that the video and IMU data are not synchronized, each of them are analyzed separately.…

Finding corresponding pixels within a pair of images is a fundamental computer vision task with various applications. Due to the specific requirements of different tasks like optical flow estimation and local feature matching, previous…

Image classification is a fundamental computer vision task and an important baseline for deep metric learning. In decades efforts have been made on enhancing image classification accuracy by using deep learning models while less attention…

Recent works leveraging Graph Neural Networks to approach graph matching tasks have shown promising results. Recent progress in learning discrete distributions poses new opportunities for learning graph matching models. In this work, we…

Scene text image super-resolution (STISR), aiming to improve image quality while boosting downstream scene text recognition accuracy, has recently achieved great success. However, most existing methods treat the foreground (character…