相关论文: MambaLoc: Efficient Camera Localisation via State …

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

This paper introduces a novel framework for high-accuracy outdoor user equipment (UE) positioning that applies a conditional generative diffusion model directly to high-dimensional massive MIMO channel state information (CSI). Traditional…

Continual Learning (CL) aims to equip AI models with the ability to learn a sequence of tasks over time, without forgetting previously learned knowledge. Recently, State Space Models (SSMs), particularly the Mamba model, have achieved…

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and…

Capturing long-range dependencies while preserving high-resolution visual representations is crucial for dense prediction tasks such as human pose estimation. Vision Transformers (ViTs) have advanced global modeling through self-attention…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that…

Despite the prevalence of images and texts in machine learning, tabular data remains widely used across various domains. Existing deep learning models, such as convolutional neural networks and transformers, perform well however demand…

LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…

Video Language Models (VLMs) are crucial for generalizing across diverse tasks and using language cues to enhance learning. While transformer-based architectures have been the de facto in vision-language training, they face challenges like…

Recent advancements in state space models, notably Mamba, have demonstrated significant progress in modeling long sequences for tasks like language understanding. Yet, their application in vision tasks has not markedly surpassed the…

This paper introduces VMatcher, a hybrid Mamba-Transformer network for semi-dense feature matching between image pairs. Learning-based feature matching methods, whether detector-based or detector-free, achieve state-of-the-art performance…

Event cameras unlock new frontiers that were previously unthinkable with standard frame-based cameras. One notable example is low-latency motion estimation (optical flow), which is critical for many real-time applications. In such…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

Today, state-of-the-art deep neural networks that process event-camera data first convert a temporal window of events into dense, grid-like input representations. As such, they exhibit poor generalizability when deployed at higher inference…

Deep image hashing aims to enable effective large-scale image retrieval by mapping the input images into simple binary hash codes through deep neural networks. More recently, Vision Mamba with linear time complexity has attracted extensive…

Cross-modal localization using text and point clouds enables robots to localize themselves via natural language descriptions, with applications in autonomous navigation and interaction between humans and robots. In this task, objects often…