相关论文: LiLoc: Lifelong Localization using Adaptive Submap…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using only the geometric…

Recently, the rapid advancement of multimodal domains has driven a data-centric paradigm shift in graph ML, transitioning from text-attributed to multimodal-attributed graphs. This advancement significantly enhances data representation and…

Hierarchical visual localization methods achieve state-of-the-art accuracy but require substantial memory as they need to store all database images. Direct 2D-3D matching requires significantly less memory but suffers from lower accuracy…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

While convolution and self-attention are extensively used in learned image compression (LIC) for transform coding, this paper proposes an alternative called Contextual Clustering based LIC (CLIC) which primarily relies on clustering…

Analyzing hand-object interaction in egocentric vision facilitates VR/AR applications and human-robot policy transfer. Existing research has mostly focused on modeling the behavior paradigm of interactive actions (i.e., ``how to…

Effectively tackling the problem of temporal action localization (TAL) necessitates a visual representation that jointly pursues two confounding goals, i.e., fine-grained discrimination for temporal localization and sufficient visual…

Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…

Vision-language models like CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions because of their training focus on short and concise captions. We present…

Existing fingerprinting-based localization methods often require extensive data collection and struggle to generalize to new environments. In contrast to previous environment-unknown MetaLoc, we propose GenMetaLoc in this paper, which first…

Camera pose estimation in known scenes is a 3D geometry task recently tackled by multiple learning algorithms. Many regress precise geometric quantities, like poses or 3D points, from an input image. This either fails to generalize to new…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

When training transformers on graph-structured data, incorporating information about the underlying topology is crucial for good performance. Topological masking, a type of relative position encoding, achieves this by upweighting or…

In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of widely used point clouds. The proposed framework achieves…

Scene Graph Generation (SGG) endeavors to predict the relationships between subjects and objects in a given image. Nevertheless, the long-tail distribution of relations often leads to biased prediction on coarse labels, presenting a…

While structure-based relocalizers have long strived for point correspondences when establishing or regressing query-map associations, in this paper, we pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera…

Large Language Model (LLM) agents exhibit remarkable conversational and reasoning capabilities but remain constrained by limited context windows and the lack of persistent memory. Recent efforts address these limitations via external memory…