相关论文: Visual Loop Closure Detection Through Deep Graph C…

Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in…

Community detection is a fundamental problem in machine learning. While deep learning has shown great promise in many graphrelated tasks, developing neural models for community detection has received surprisingly little attention. The few…

The human brain has an inherent ability to fill in gaps to perceive figures as complete wholes, even when parts are missing or fragmented. This phenomenon is known as Closure in psychology, one of the Gestalt laws of perceptual…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique,…

Loop closing is a crucial component in SLAM that helps eliminate accumulated errors through two main steps: loop detection and loop pose correction. The first step determines whether loop closing should be performed, while the second…

Image segmentation is a fundamental task in computer vision. Data annotation for training supervised methods can be labor-intensive, motivating unsupervised methods. Current approaches often rely on extracting deep features from pre-trained…

Video copy detection requires robust similarity estimation under diverse visual distortions while operating at very large scale. Although deep neural networks achieve strong performance, their computational cost and descriptor size limit…

Recently, Vision Graph Neural Network (ViG) has gained considerable attention in computer vision. Despite its groundbreaking innovation, Vision Graph Neural Network encounters key issues including the quadratic computational complexity…

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…

This paper proposes a DNN-based system that detects multiple people from a single depth image. Our neural network processes a depth image and outputs a likelihood map in image coordinates, where each detection corresponds to a…

Determining clustering tendency in datasets is a fundamental but challenging task, especially in noisy or high-dimensional settings where traditional methods, such as the Hopkins Statistic and Visual Assessment of Tendency (VAT), often…

As Very Large Scale Integration (VLSI) designs continue to scale in size and complexity, layout verification has become a central challenge in modern Electronic Design Automation (EDA) workflows. In practice, congestion can only be…

Graph neural networks (GNNs) have been widely applied to numerous fields. A recent work which combines layered structure and residual connection proposes an improved deep architecture to extend CAmouflage-REsistant GNN (CARE-GNN) to deep…

Existing Multi-view Clustering (MVC) methods based on subspace learning focus on consensus representation learning while neglecting the inherent topological structure of data. Despite the integration of Graph Neural Networks (GNNs) into…

We present a novel real-time line segment detection scheme called Line Graph Neural Network (LGNN). Existing approaches require a computationally expensive verification or postprocessing step. Our LGNN employs a deep convolutional neural…

Graph Neural Networks (GNNs) with attention have been successfully applied for learning visual feature matching. However, current methods learn with complete graphs, resulting in a quadratic complexity in the number of features. Motivated…

We present a visual simultaneous localization and mapping (SLAM) framework of closing surface loops. It combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and globally…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

Visual place recognition is the task of recognizing same places of query images in a set of database images, despite potential condition changes due to time of day, weather or seasons. It is important for loop closure detection in SLAM and…