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

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

High accuracy video label prediction (classification) models are attributed to large scale data. These data could be frame feature sequences extracted by a pre-trained convolutional-neural-network, which promote the efficiency for creating…

Robust loop closure detection is a critical component of Simultaneous Localization and Mapping (SLAM) algorithms in GNSS-denied environments, such as in the context of planetary exploration. In these settings, visual place recognition often…

This study proposes a deep learning-based approach for discovering loops in programming code according to their potential for parallelization. Two genetic algorithm-based code generators were developed to produce two distinct types of code:…

Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios.…

Loop Closure Detection (LCD) has been proved to be extremely useful in global consistent visual Simultaneously Localization and Mapping (SLAM) and appearance-based robot relocalization. Methods exploiting binary features in bag of words…

Graph classification is an important learning task for graph-structured data. Graph neural networks (GNNs) have recently gained growing attention in graph learning and have shown significant improvements in many important graph problems.…

With the rapid development of indoor location-based services (LBSs), the demand for accurate localization keeps growing as well. To meet this demand, we propose an indoor localization algorithm based on graph convolutional network (GCN). We…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…

Graph Neural Networks (GNNs) have been widely used for the representation learning of various structured graph data. While promising, most existing GNNs oversimplified the complexity and diversity of the edges in the graph, and thus…

Graph Neural Networks (GNNs) have demonstrated remarkable results in various real-world applications, including drug discovery, object detection, social media analysis, recommender systems, and text classification. In contrast to their vast…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

It has long been considered a significant problem to improve the visual quality of lossy image and video compression. Recent advances in computing power together with the availability of large training data sets has increased interest in…

We present a deep neural network to predict structural similarity between 2D layouts by leveraging Graph Matching Networks (GMN). Our network, coined LayoutGMN, learns the layout metric via neural graph matching, using an attention-based…

Graph Neural Networks (GNNs) excel in graph-based learning tasks, but their complex, non-linear operations often render them as opaque "black boxes". This opacity hinders user trust, complicates debugging, bias detection, and adoption in…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

While deep convolutional neural networks (CNNs) have shown a great success in single-label image classification, it is important to note that real world images generally contain multiple labels, which could correspond to different objects,…

The task of graph node classification is often approached by utilizing a local Graph Neural Network (GNN), that learns only local information from the node input features and their adjacency. In this paper, we propose to improve the…

The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…

Local feature provides compact and invariant image representation for various visual tasks. Current deep learning-based local feature algorithms always utilize convolution neural network (CNN) architecture with limited receptive field.…