相关论文: A Deeper Look into Second-Order Feature Aggregatio…

Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vulnerable to catastrophic forgetting, where new observations…

LiDAR point clouds are fundamental to various applications, yet high-precision scans incur substantial storage and transmission overhead. Existing methods typically convert unordered points into hierarchical octree or voxel structures for…

Low-rank plus diagonal (LRPD) decompositions provide a powerful structural model for large covariance matrices, simultaneously capturing global shared factors and localized corrections that arise in covariance estimation, factor analysis,…

Deep convolutional neural network (CNN) based models are vulnerable to the adversarial attacks. One of the possible reasons is that the embedding space of CNN based model is sparse, resulting in a large space for the generation of…

We address the challenge of applying existing convolutional neural network (CNN) architectures to compressed images. Existing CNN architectures represent images as a matrix of pixel intensities with a specified dimension; this desired…

Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…

Channel pruning is one of the important methods for deep model compression. Most of existing pruning methods mainly focus on classification. Few of them conduct systematic research on object detection. However, object detection is different…

In contrast to image/text data whose order can be used to perform non-local feature aggregation in a straightforward way using the pooling layers, graphs lack the tensor representation and mostly the element-wise max/mean function is…

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…

This paper introduces a family of local feature aggregation functions and a novel method to estimate their parameters, such that they generate optimal representations for classification (or any task that can be expressed as a cost function…

This work presents a systematic investigation into how alternative LiDAR-to-image projections affect metric place recognition when coupled with a state-of-the-art vision foundation model. We introduce a modular retrieval pipeline that…

Visual Place Recognition (VPR) is a crucial part of mobile robotics and autonomous driving as well as other computer vision tasks. It refers to the process of identifying a place depicted in a query image using only computer vision. At…

Recently, learned image compression methods have developed rapidly and exhibited excellent rate-distortion performance when compared to traditional standards, such as JPEG, JPEG2000 and BPG. However, the learning-based methods suffer from…

Since the data volume of LiDAR point clouds is very huge, efficient compression is necessary to reduce their storage and transmission costs. However, existing learning-based compression methods do not exploit the inherent angular resolution…

Large-scale applications of Visual Place Recognition (VPR) require computationally efficient approaches. Further, a well-balanced combination of data-based and training-free approaches can decrease the required amount of training data and…

We present a novel Discriminant Locality Preserving Projections (DLPP) algorithm named Collaborative Discriminant Locality Preserving Projection (CDLPP). In our algorithm, the discriminating power of DLPP are further exploited from two…

Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models to extract…

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…

Learning rich and compact representations is an open topic in many fields such as object recognition or image retrieval. Deep neural networks have made a major breakthrough during the last few years for these tasks but their representations…

In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…