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

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

Recent advances in self-supervised learning (SSL) have largely closed the gap with supervised ImageNet pretraining. Despite their success these methods have been primarily applied to unlabeled ImageNet images, and show marginal gains when…

Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is…

In this paper, we study the problem of learning image classification models with label noise. Existing approaches depending on human supervision are generally not scalable as manually identifying correct or incorrect labels is…

Camera relocalization relies on 3D models of the scene with a large memory footprint that is incompatible with the memory budget of several applications. One solution to reduce the scene memory size is map compression by removing certain 3D…

Kernel methods obtain superb performance in terms of accuracy for various machine learning tasks since they can effectively extract nonlinear relations. However, their time complexity can be rather large especially for clustering tasks. In…

In this paper, we propose to augment image-based place recognition with structural cues. Specifically, these structural cues are obtained using structure-from-motion, such that no additional sensors are needed for place recognition. This is…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on low-level geometric or image features may cause high…

Discriminative localization is essential for fine-grained image classification task, which devotes to recognizing hundreds of subcategories in the same basic-level category. Reflecting on discriminative regions of objects, key differences…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

This paper proposes a novel image set classification technique based on the concept of linear regression. Unlike most other approaches, the proposed technique does not involve any training or feature extraction. The gallery image sets are…