相关论文: AirRoom: Objects Matter in Room Reidentification

Occluded Person Re-Identification (ReID) is a metric learning task that involves matching occluded individuals based on their appearance. While many studies have tackled occlusions caused by objects, multi-person occlusions remain less…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Localization is an essential capability for mobile robots. A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize previously seen places in the world based solely on images.…

In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…

Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…

Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…

We investigate the impact of more realistic room simulation for training far-field keyword spotting systems without fine-tuning on in-domain data. To this end, we study the impact of incorporating the following factors in the room impulse…

Traditional object detection models are typically trained on a fixed set of classes, limiting their flexibility and making it costly to incorporate new categories. Open-vocabulary object detection addresses this limitation by enabling…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

A fully automated object reconstruction pipeline is crucial for digital content creation. While the area of 3D reconstruction has witnessed profound developments, the removal of background to obtain a clean object model still relies on…

Masked Image Modeling (MIM) is a powerful self-supervised strategy for visual pre-training without the use of labels. MIM applies random crops to input images, processes them with an encoder, and then recovers the masked inputs with a…

Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…

Aerial-Ground person re-identification (AG-ReID) is an emerging yet challenging task that aims to match pedestrian images captured from drastically different viewpoints, typically from unmanned aerial vehicles (UAVs) and ground-based…

When discussing the Aerial-Ground Person Re-identification (AGPReID) task, we face the main challenge of the significant appearance variations caused by different viewpoints, making identity matching difficult. To address this issue,…

Vehicle re-identification (V-reID) has become significantly popular in the community due to its applications and research significance. In particular, the V-reID is an important problem that still faces numerous open challenges. This paper…

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…

This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…

Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…