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

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…

Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…

Many machine learning systems today are trained on large amounts of human-annotated data. Data annotation tasks that require a high level of competency make data acquisition expensive, while the resulting labels are often subjective,…

Utilizing visual place recognition (VPR) technology to ascertain the geographical location of publicly available images is a pressing issue for real-world VPR applications. Although most current VPR methods achieve favorable results under…

As a part of the perception results of intelligent driving systems, static object detection (SOD) in 3D space provides crucial cues for driving environment understanding. With the rapid deployment of deep neural networks for SOD tasks, the…

We present a novel dataset named as HPointLoc, specially designed for exploring capabilities of visual place recognition in indoor environment and loop detection in simultaneous localization and mapping. The loop detection sub-task is…

Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying a specific place. But this concept of utility is not…

Urban informatics explore data science methods to address different urban issues intensively based on data. The large variety and quantity of data available should be explored but this brings important challenges. For instance, although…

As automated vehicles are getting closer to becoming a reality, it will become mandatory to be able to characterise the performance of their obstacle detection systems. This validation process requires large amounts of ground-truth data,…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Event stream-based Visual Place Recognition (VPR) is an emerging research direction that offers a compelling solution to the instability of conventional visible-light cameras under challenging conditions such as low illumination,…

A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting conditions. Numerous approaches based on deep-learnt image…

Learned object detection methods based on fusion of LiDAR and camera data require labeled training samples, but niche applications, such as warehouse robotics or automated infrastructure, require semantic classes not available in large…

We present a new method for training pedestrian detectors on an unannotated set of images. We produce a mixed reality dataset that is composed of real-world background images and synthetically generated static human-agents. Our approach is…

In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…

For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images. We address this challenge by introducing Hypersim, a photorealistic synthetic dataset for holistic…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While Convolution Neural Networks (CNNs) currently dominate state-of-the-art VPR performance, their high…

Training deep-learning-based vision systems require the manual annotation of a significant number of images. Such manual annotation is highly time-consuming and labor-intensive. Although previous studies have attempted to eliminate the…

Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are…

The training of a next-best-view (NBV) planner for visual place recognition (VPR) is a fundamentally important task in autonomous robot navigation, for which a typical approach is the use of visual experiences that are collected in the…