相关论文: UniLoc: Towards Universal Place Recognition Using …

In the era of Large Language Models (LLMs), tremendous strides have been made in the field of multimodal understanding. However, existing advanced algorithms are limited to effectively utilizing the immense representation capabilities and…

Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…

Current vision-language models have been explored for multi-modal embedding tasks like information retrieval. However, they face significant challenges in real-world queries and targets involving diverse modality combinations, as existing…

This paper presents a general one-shot object localization algorithm called OneLoc. Current one-shot object localization or detection methods either rely on a slow exhaustive feature matching process or lack the ability to generalize to…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

Data discovery - retrieving relevant tables from a data lake in response to user queries - is a fundamental building block for downstream analytics. In practice, data discovery must support different query modalities, including natural…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Multimodal learning aims to imitate human beings to acquire complementary information from multiple modalities for various downstream tasks. However, traditional aggregation-based multimodal fusion methods ignore the inter-modality…

In-context Learning enables training-free adaptation via demonstrations but remains highly sensitive to example selection and formatting. In unified multimodal models spanning understanding and generation, this sensitivity is exacerbated by…

This paper presents Universal Vision-Language Dense Retrieval (UniVL-DR), which builds a unified model for multi-modal retrieval. UniVL-DR encodes queries and multi-modality resources in an embedding space for searching candidates from…

Cross-modal retrieval is the task of retrieving samples of a given modality by using queries of a different one. Due to the wide range of practical applications, the problem has been mainly focused on the vision and language case, e.g. text…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

With the growth of location-based services, indoor localization is attracting great interests as it facilitates further ubiquitous environments. Specifically, device free localization using wireless signals is getting increased attention as…

In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any…

The growing availability of co-located geospatial data spanning aerial imagery, street-level views, elevation models, text, and geographic coordinates offers a unique opportunity for multimodal representation learning. We introduce…

Image to point cloud global localization is crucial for robot navigation in GNSS-denied environments and has become increasingly important for multi-robot map fusion and urban asset management. The modality gap between images and point…

Existing single-modal and multi-modal salient object detection (SOD) methods focus on designing specific architectures tailored for their respective tasks. However, developing completely different models for different tasks leads to labor…

Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…

Single object tracking aims to localize target object with specific reference modalities (bounding box, natural language or both) in a sequence of specific video modalities (RGB, RGB+Depth, RGB+Thermal or RGB+Event.). Different reference…

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…