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

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

Signage is everywhere and a robot should be able to take advantage of signs to help it localize (including Visual Place Recognition (VPR)) and map. Robust text detection & recognition in the wild is challenging due to such factors as pose,…

Visual Place Recognition (VPR) in long-term deployment requires reasoning beyond pixel similarity: systems must make transparent, interpretable decisions that remain robust under lighting, weather and seasonal change. We present Text2Graph…

Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style transfer, or by referencing previously acquired imagery. These…

Visual Place Recognition (VPR) is a fundamental task that allows a robotic platform to successfully localise itself in the environment. For decentralised VPR applications where the visual data has to be transmitted between several agents,…

Equitable urban transportation applications require high-fidelity digital representations of the built environment: not just streets and sidewalks, but bike lanes, marked and unmarked crossings, curb ramps and cuts, obstructions, traffic…

Visual place recognition (VPR) using deep networks has achieved state-of-the-art performance. However, most of them require a training set with ground truth sensor poses to obtain positive and negative samples of each observation's spatial…

There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these different radar perception systems, ground penetrating radar…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

Visual place recognition (VPR) is a highly challenging task that has a wide range of applications, including robot navigation and self-driving vehicles. VPR is particularly difficult due to the presence of duplicate regions and the lack of…

Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…

Traditional visual place recognition (VPR) methods generally use frame-based cameras, which is easy to fail due to dramatic illumination changes or fast motions. In this paper, we propose an end-to-end visual place recognition network for…

We address multi-reference visual place recognition (VPR), where reference sets captured under varying conditions are used to improve localisation performance. While deep learning with large-scale training improves robustness, increasing…

Understanding human behaviour in crowded indoor environments is central to surveillance, smart buildings, and human-robot interaction, yet existing datasets rarely capture real-world indoor complexity at scale. We introduce IndoorCrowd, a…

Visual Place Recognition (VPR) has advanced significantly with high-capacity foundation models like DINOv2, achieving remarkable performance. Nonetheless, their substantial computational cost makes deployment on resource-constrained devices…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Visual place recognition (VPR) aiming at predicting the location of an image based solely on its visual features is a fundamental task in robotics and autonomous systems. Domain variation remains one of the main challenges in VPR and is…