相关论文: MegaLoc: One Retrieval to Place Them All

The standard approach for visual place recognition is to use global image descriptors to retrieve the most similar database images for a given query image. The results can then be further improved with re-ranking methods that re-order the…

The widespread usage of high-definition screens on edge devices stimulates a strong demand for efficient image restoration algorithms. The way of caching deep learning models in a look-up table (LUT) is recently introduced to respond to…

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…

Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however,…

Image matching, which establishes correspondences between two-view images to recover 3D structure and camera geometry, serves as a cornerstone in computer vision and underpins a wide range of applications, including visual localization, 3D…

Climate-induced disasters are and will continue to be on the rise, and thus search-and-rescue (SAR) operations, where the task is to localize and assist one or several people who are missing, become increasingly relevant. In many cases the…

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…

Worldwide image geolocalization aims to predict precise GPS coordinates for images captured anywhere on Earth, which is challenging due to the large visual and geographic diversity. Recent methods mainly follow two paradigms:…

Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

Methods that combine local and global features have recently shown excellent performance on multiple challenging deep image retrieval benchmarks, but their use of local features raises at least two issues. First, these local features simply…

After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…

Learning and recognition is a fundamental process performed in many robot operations such as mapping and localization. The majority of approaches share some common characteristics, such as attempting to extract salient features, landmarks…

Multi-robot systems have been widely deployed in real-world applications, providing significant improvements in efficiency and reductions in labor costs. However, most existing multi-robot collaboration methods rely on extensive…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Image retrieval is the task of finding images in a database that are most similar to a given query image. The performance of an image retrieval pipeline depends on many training-time factors, including the embedding model architecture, loss…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…