相关论文: New Efficient Visual OILU Markers

We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to location in <this picture>") and ObjectNav ("find a chair")…

General-purpose object-detection algorithms often dismiss the fine structure of detected objects. This can be traced back to how their proposed regions are evaluated. Our goal is to renegotiate the trade-off between the generality of these…

We present a method to populate an unknown environment with models of previously seen objects, placed in a Euclidean reference frame that is inferred causally and on-line using monocular video along with inertial sensors. The system we…

Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

Line segment detection plays a cornerstone role in computer vision tasks. Among numerous detection methods that have been recently proposed, the ones based on edge drawing attract increasing attention owing to their excellent detection…

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

The statistical analysis of marked point processes requires disentangling complex spatial arrangements from attribute-dependent interactions. While classical summary statistics are effective for second-order dependencies, they frequently…

We propose a new fast fully unsupervised method to discover semantic patterns. Our algorithm is able to hierarchically find visual categories and produce a segmentation mask where previous methods fail. Through the modeling of what is a…

Recently, remarkable progress has been made in weakly supervised object localization (WSOL) to promote object localization maps. The common practice of evaluating these maps applies an indirect and coarse way, i.e., obtaining tight bounding…

We propose a simple yet effective approach to the problem of pedestrian detection which outperforms the current state-of-the-art. Our new features are built on the basis of low-level visual features and spatial pooling. Incorporating…

In a busy city street, a pedestrian surrounded by distractions can pick out a single sign if it is relevant to their route. Artificial agents in outdoor Vision-and-Language Navigation (VLN) are also confronted with detecting supervisory…

We present a framework for efficient perceptual inference that explicitly reasons about the segmentation of its inputs and features. Rather than being trained for any specific segmentation, our framework learns the grouping process in an…

Modern Unmanned Aerial Vehicles equipped with state of the art artificial intelligence (AI) technologies are opening to a wide plethora of novel and interesting applications. While this field received a strong impact from the recent AI…

Vision-language models (VLMs) integrate visual and textual information, enabling a wide range of applications such as image captioning and visual question answering, making them crucial for modern AI systems. However, their high…

We demonstrate an object tracking method for 3D images with fixed computational cost and state-of-the-art performance. Previous methods predicted transformation parameters from convolutional layers. We instead propose an architecture that…

Object detection is a critical part of visual scene understanding. The representation of the object in the detection task has important implications on the efficiency and feasibility of annotation, robustness to occlusion, pose, lighting,…

We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined…