相关论文: VOLoc: Visual Place Recognition by Querying Compre…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Real-time visual localization often utilizes online computing, for which query images or videos are transmitted to remote servers for visual place recognition (VPR). However, limited network bandwidth necessitates image-quality reduction…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

Standard video action recognition models often process typically resized full frames, suffering from spatial redundancy and high computational costs. To address this, we introduce MoCrop, a motion-aware adaptive cropping module designed for…

This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…

Vector quantization (VQ) is a prevalent and fundamental technique that discretizes continuous feature vectors by approximating them using a codebook. As the diversity and complexity of data and models continue to increase, there is an…

Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…

We propose a new video camouflaged object detection (VCOD) framework that can exploit both short-term dynamics and long-term temporal consistency to detect camouflaged objects from video frames. An essential property of camouflaged objects…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Optimized for pixel fidelity metrics, images compressed by existing image codec are facing systematic challenges when used for visual analysis tasks, especially under low-bitrate coding. This paper proposes a visual analysis-motivated…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Autoencoder-based image codecs achieve state-of-the-art compression performance but often incur high computational complexity, particularly at decoding time. This work introduces a low-complexity learned image compression framework based on…

With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…

In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single LiDAR odometry often faces hardware failures and degeneracy…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…