相关论文: NYC-Indoor-VPR: A Long-Term Indoor Visual Place Re…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

Recognising previously visited locations is an important, but unsolved, task in autonomous navigation. Current visual place recognition (VPR) benchmarks typically challenge models to recover the position of a query image (or images) from…

In the emerging field of video coding for machines, video datasets with pristine video quality and high-quality annotations are required for a comprehensive evaluation. However, existing video datasets with detailed annotations are severely…

Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient lighting conditions during day and night. Moreover, a…

The requirement of large amounts of annotated images has become one grand challenge while training deep neural network models for various visual detection and recognition tasks. This paper presents a novel image synthesis technique that…

Detecting road features is a key enabler for autonomous driving and localization. For instance, a reliable detection of poles which are widespread in road environments can improve localization. Modern deep learning-based perception systems…

Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning based approaches. Natural and unstructured environments present…

In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust…

Deep learning has rapidly transformed the state of the art algorithms used to address a variety of problems in computer vision and robotics. These breakthroughs have relied upon massive amounts of human annotated training data. This time…

Realistic human surveillance datasets are crucial for training and evaluating computer vision models under real-world conditions, facilitating the development of robust algorithms for human and human-interacting object detection in complex…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

We propose a system that uses video as the input to track the position of objects relative to their surrounding environment in real-time. The neural network employed is trained on a 100% synthetic dataset coming from our own automated…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

The problem of estimating subjective visual properties from image and video has attracted increasing interest. A subjective visual property is useful either on its own (e.g. image and video interestingness) or as an intermediate…

We address the problem of registering synchronized color (RGB) and multi-spectral (MS) images featuring very different resolution by solving stereo matching correspondences. Purposely, we introduce a novel RGB-MS dataset framing 13…

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved…

Pedestrian detection through Computer Vision is a building block for a multitude of applications. Recently, there was an increasing interest in Convolutional Neural Network-based architectures for the execution of such a task. One of these…

Omnidirectional images are one of the main sources of information for learning based scene understanding algorithms. However, annotated datasets of omnidirectional images cannot keep the pace of these learning based algorithms development.…

Visual Place Recognition (VPR) is a key component for localisation in GNSS-denied environments, but its performance critically depends on selecting an image matching threshold (operating point) that balances precision and recall. Thresholds…

VPR is a fundamental task for autonomous navigation as it enables a robot to localize itself in the workspace when a known location is detected. Although accuracy is an essential requirement for a VPR technique, computational and energy…