相关论文: Employing Universal Voting Schemes for Improved Vi…

We propose a novel keypoint voting scheme based on intersecting spheres, that is more accurate than existing schemes and allows for fewer, more disperse keypoints. The scheme is based upon the distance between points, which as a 1D quantity…

Visual Place Recognition (VPR) is the task of matching current visual imagery from a camera to images stored in a reference map of the environment. While initial VPR systems used simple direct image methods or hand-crafted visual features,…

Recent large-scale Vision Language Action (VLA) models have shown superior performance in robotic manipulation tasks guided by natural language. However, current VLA models suffer from two drawbacks: (i) generation of massive tokens leading…

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…

Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demonstrated commendable performance, the procurement of such real…

Visual Place Recognition (VPR) aims to estimate the location of the given query image within a database of geo-tagged images. To identify the exact location in an image, detecting landmarks is crucial. However, in some scenarios, such as…

Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…

Since vision-based manipulation policies are typically trained from data gathered from a single viewpoint, their performance drops when the view changes during deployment. Naively aggregating demonstrations from numerous random views is not…

Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…

Visual prompting has gained popularity as a method for adapting pre-trained models to specific tasks, particularly in the realm of parameter-efficient tuning. However, existing visual prompting techniques often pad the prompt parameters…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

Visual Place Recognition (VPR) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Visual Commonsense Reasoning (VCR) remains a significant yet challenging research problem in the realm of visual reasoning. A VCR model generally aims at answering a textual question regarding an image, followed by the rationale prediction…

We are motivated by the fact that multiple representations of the environment are required to stand for the changes in appearance with time and for changes that appear in a cyclic manner. These changes are, for example, from day to night…

Voting systems have a wide range of applications including recommender systems, web search, product design and elections. Limited by the lack of general-purpose analytical tools, it is difficult to hand-engineer desirable voting rules for…

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…

A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…