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

Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties.…

Most work on the formal verification of neural networks has focused on bounding the set of outputs that correspond to a given set of inputs (for example, bounded perturbations of a nominal input). However, many use cases of neural network…

Graph Neural Networks (GNNs) have proven effective in various medical imaging applications, such as automated disease diagnosis. However, due to the local neighborhood aggregation paradigm in message passing which characterizes these…

Graph clustering aims to divide the graph into different clusters. The recently emerging deep graph clustering approaches are largely built on graph neural networks (GNN). However, GNN is designed for general graph encoding and there is a…

Most existing re-identification methods focus on learning robust and discriminative features with deep convolution networks. However, many of them consider content similarity separately and fail to utilize the context information of the…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

Rule-based fine-grained IP geolocation methods are hard to generalize in computer networks which do not follow hypothetical rules. Recently, deep learning methods, like multi-layer perceptron (MLP), are tried to increase generalization…

In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…

Overlapping community detection is a key problem in graph mining. Some research has considered applying graph convolutional networks (GCN) to tackle the problem. However, it is still challenging to incorporate deep graph convolutional…

In this paper, we present an accurate and scalable approach to the face clustering task. We aim at grouping a set of faces by their potential identities. We formulate this task as a link prediction problem: a link exists between two faces…

Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC$^2$-SLAM. We argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as…

We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point clouds, followed by an overlap calculation to confirm whether…

Cross-camera data association is one of the cornerstones of the multi-camera computer vision field. Although often integrated into detection and tracking tasks through architecture design and loss definition, it is also recognized as an…

The first provably efficient algorithm for learning graph neural networks (GNNs) with one hidden layer for node information convolution is provided in this paper. Two types of GNNs are investigated, depending on whether labels are attached…

Lane detection in driving scenes is an important module for autonomous vehicles and advanced driver assistance systems. In recent years, many sophisticated lane detection methods have been proposed. However, most methods focus on detecting…

Unsupervised graph representation learning aims to learn low-dimensional node embeddings without supervision while preserving graph topological structures and node attributive features. Previous graph neural networks (GNN) require a large…

The person re-identification task requires to robustly estimate visual similarities between person images. However, existing person re-identification models mostly estimate the similarities of different image pairs of probe and gallery…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…

Detecting security vulnerabilities in open-source software is a critical task that is highly regarded in the related research communities. Several approaches have been proposed in the literature for detecting vulnerable codes and…