相关论文: CSCPR: Cross-Source-Context Indoor RGB-D Place Rec…

Recent successes in self-supervised learning (SSL) model spatial co-occurrences of visual features either by masking portions of an image or by aggressively cropping it. Here, we propose a new way to model spatial co-occurrences by aligning…

We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However,…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

In recent years, deep convolutional neural network (DCNN) has seen a breakthrough progress in natural image recognition because of three points: universal approximation ability via DCNN, large-scale database (such as ImageNet), and…

Recently, many approaches tackle the Unsupervised Domain Adaptive person re-identification (UDA re-ID) problem through pseudo-label-based contrastive learning. During training, a uni-centroid representation is obtained by simply averaging…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

Self-supervised learning has been widely used to obtain transferrable representations from unlabeled images. Especially, recent contrastive learning methods have shown impressive performances on downstream image classification tasks. While…

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…

The emerging topic of cross-source point cloud (CSPC) registration has attracted increasing attention with the fast development background of 3D sensor technologies. Different from the conventional same-source point clouds that focus on…

Modern indoor localization techniques are essential to overcome the weak GPS coverage in indoor environments. Recently, considerable progress has been made in Channel State Information (CSI) based indoor localization with signal…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration meth- ods rely on…

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…

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…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

We present a novel neural RGB-D Simultaneous Localization And Mapping (SLAM) system that learns an implicit map of the scene in real time. For the first time, we explore the use of Scene Coordinate Regression (SCR) as the core implicit map…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

The primary color profile of the same identity is assumed to remain consistent in typical Person Re-identification (Person ReID) tasks. However, this assumption may be invalid in real-world situations and images hold variant color profiles,…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust…