相关论文: Focus on Local: Finding Reliable Discriminative Re…

Visual Place Recognition (VPR) plays a critical role in many localization and mapping pipelines. It consists of retrieving the closest sample to a query image, in a certain embedding space, from a database of geotagged references. The image…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

In this work we propose a novel joint training method for Visual Place Recognition (VPR), which simultaneously learns a global descriptor and a pair classifier for re-ranking. The pair classifier can predict whether a given pair of images…

Images incorporate a wealth of information from a robot's surroundings. With the widespread availability of compact cameras, visual information has become increasingly popular for addressing the localisation problem, which is then termed as…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

Visual place recognition (VPR) is a robot's ability to determine whether a place was visited before using visual data. While conventional hand-crafted methods for VPR fail under extreme environmental appearance changes, those based on…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Understanding the semantics of individual regions or patches of unconstrained images, such as open-world object detection, remains a critical yet challenging task in computer vision. Building on the success of powerful image-level…

Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…

Visual Place Recognition (VPR) aims to estimate the location of the given query image within a database of geo-tagged images. To identify the exact location in an image, detecting landmarks is crucial. However, in some scenarios, such as…

A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…

Visual place recognition (VPR) is usually considered as a specific image retrieval problem. Limited by existing training frameworks, most deep learning-based works cannot extract sufficiently stable global features from RGB images and rely…

Most recent self-supervised methods for learning image representations focus on either producing a global feature with invariance properties, or producing a set of local features. The former works best for classification tasks while the…

One of the central challenges in visual place recognition (VPR) is learning a robust global representation that remains discriminative under large viewpoint changes, illumination variations, and severe domain shifts. While visual foundation…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

Visual place recognition (VPR) aiming at predicting the location of an image based solely on its visual features is a fundamental task in robotics and autonomous systems. Domain variation remains one of the main challenges in VPR and is…

The task of large-scale retrieval-based image localization is to estimate the geographical location of a query image by recognizing its nearest reference images from a city-scale dataset. However, the general public benchmarks only provide…