相关论文: Close, But Not There: Boosting Geographic Distance…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database. Recently, the emergence of the powerful visual foundation…

LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Medical Visual Grounding (MVG) aims to identify diagnostically relevant phrases from free-text radiology reports and localize their corresponding regions in medical images, providing interpretable visual evidence to support clinical…

Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. In this work, we…

Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…

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…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…

Visual document retrieval aims to retrieve a set of document pages relevant to a query from visually rich collections. Existing methods often employ Vision-Language Models (VLMs) to encode queries and visual pages into a shared embedding…

The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods that re-order the…

Worldwide image geolocalization-the task of predicting GPS coordinates from images taken anywhere on Earth-poses a fundamental challenge due to the vast diversity in visual content across regions. While recent approaches adopt a two-stage…

Location retrieval based on visual information is to retrieve the location of an agent (e.g. human, robot) or the area they see by comparing the observations with a certain form of representation of the environment. Existing methods…

Visual Place Recognition (VPR) estimates the location of query images by matching them with images in a reference database. Conventional methods generally adopt aggregated CNN features for global retrieval and RANSAC-based geometric…

Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place…

Geometric verification is considered a de facto solution for the re-ranking task in image retrieval. In this study, we propose a novel image retrieval re-ranking network named Correlation Verification Networks (CVNet). Our proposed network,…

While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or intensity values.…

This paper adapts a general dataset representation technique to produce robust Visual Place Recognition (VPR) descriptors, crucial to enable real-world mobile robot localisation. Two parallel lines of work on VPR have shown, on one side,…

Image-based sequencing of mRNA makes it possible to see where in a tissue sample a given gene is active, and thus discern large numbers of different cell types in parallel. This is crucial for gaining a better understanding of tissue…