相关论文: Improved Scene Landmark Detection for Camera Local…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Models based on deep convolutional neural networks (CNN) have significantly improved the performance of semantic segmentation. However, learning these models requires a large amount of training images with pixel-level labels, which are very…

The success of deep learning methods relies on the availability of a large number of datasets with annotations; however, curating such datasets is burdensome, especially for medical images. To relieve such a burden for a landmark detection…

Although significant progress achieved, multi-label classification is still challenging due to the complexity of correlations among different labels. Furthermore, modeling the relationships between input and some (dull) classes further…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of the selected feature…

Detecting and classifying targets in video streams from surveillance cameras is a cumbersome, error-prone and expensive task. Often, the incurred costs are prohibitive for real-time monitoring. This leads to data being stored locally or…

Recent advancements in visual localization and mapping have demonstrated considerable success in integrating point and line features. However, expanding the localization framework to include additional mapping components frequently results…

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…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…

This paper studies the problem of Line Segment Detection (LSD) for the characterization of line geometry in images, with the aim of learning a domain-agnostic robust LSD model that works well for any natural images. With the focus of…

Scene Change Detection is a challenging task in computer vision and robotics that aims to identify differences between two images of the same scene captured at different times. Traditional change detection methods rely on training models…

We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…

Self-supervised learning (SSL) methods targeting scene images have seen a rapid growth recently, and they mostly rely on either a dedicated dense matching mechanism or a costly unsupervised object discovery module. This paper shows that…

Automated landmark detection offers an efficient approach for medical professionals to understand patient anatomic structure and positioning using intra-operative imaging. While current detection methods for pelvic fluoroscopy demonstrate…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Standard deep learning models for image segmentation cannot guarantee topology accuracy, failing to preserve the correct number of connected components or structures. This, in turn, affects the quality of the segmentations and compromises…

Localization of salient facial landmark points, such as eye corners or the tip of the nose, is still considered a challenging computer vision problem despite recent efforts. This is especially evident in unconstrained environments, i.e., in…