相关论文: BoQ: A Place is Worth a Bag of Learnable Queries

The past decade has seen the growing popularity of Bag of Features (BoF) approaches to many computer vision tasks, including image classification, video search, robot localization, and texture recognition. Part of the appeal is simplicity.…

This paper addresses the problem of change detection from a novel perspective of long-term map learning. We are particularly interested in designing an approach that can scale to large maps and that can function under global uncertainty in…

This work proposes a simple instance retrieval pipeline based on encoding the convolutional features of CNN using the bag of words aggregation scheme (BoW). Assigning each local array of activations in a convolutional layer to a visual word…

Visual learning problems such as object classification and action recognition are typically approached using extensions of the popular bag-of-words (BoW) model. Despite its great success, it is unclear what visual features the BoW model is…

Learning image representations without human supervision is an important and active research field. Several recent approaches have successfully leveraged the idea of making such a representation invariant under different types of…

Vision transformers are ever larger, more accurate, and more expensive to compute. The expense is even more extreme at high resolution as the number of tokens grows quadratically with the image size. We turn to adaptive computation to cope…

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…

This article gives a survey for bag-of-words (BoW) or bag-of-features model in image retrieval system. In recent years, large-scale image retrieval shows significant potential in both industry applications and research problems. As local…

We propose a technique to improve the search efficiency of the bag-of-words (BoW) method for image retrieval. We introduce a notion of difficulty for the image matching problems and propose methods that reduce the amount of computations…

We present PARQ - a multi-view 3D object detector with transformer and pixel-aligned recurrent queries. Unlike previous works that use learnable features or only encode 3D point positions as queries in the decoder, PARQ leverages…

Product Quantization (PQ) has long been a mainstream for generating an exponentially large codebook at very low memory/time cost. Despite its success, PQ is still tricky for the decomposition of high-dimensional vector space, and the…

In this paper, we propose an end-to-end framework for instance segmentation. Based on the recently introduced DETR [1], our method, termed SOLQ, segments objects by learning unified queries. In SOLQ, each query represents one object and has…

Deep learning methods for Visual Place Recognition (VPR) have advanced significantly, largely driven by large-scale datasets. However, most existing approaches are trained on a single dataset, which can introduce dataset-specific inductive…

This work introduces a novel task, location-aware visual question generation (LocaVQG), which aims to generate engaging questions from data relevant to a particular geographical location. Specifically, we represent such location-aware…

One of the most intriguing features of the Visual Question Answering (VQA) challenge is the unpredictability of the questions. Extracting the information required to answer them demands a variety of image operations from detection and…

The objective of this work is to reconstruct an original image from Bag-of-Visual-Words (BoVW). Image reconstruction from features can be a means of identifying the characteristics of features. Additionally, it enables us to generate novel…

Visual grounding, i.e., localizing objects in images according to natural language queries, is an important topic in visual language understanding. The most effective approaches for this task are based on deep learning, which generally…

Multi-modal cross-view place recognition remains a fundamental challenge in computer vision and robotics due to the severe viewpoint, modality, and spatial-structure discrepancies between ground observations and aerial references. To…

We introduce the lookahead-bounded Q-learning (LBQL) algorithm, a new, provably convergent variant of Q-learning that seeks to improve the performance of standard Q-learning in stochastic environments through the use of ``lookahead'' upper…

Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…