相关论文: SGAD: Semantic and Geometric-aware Descriptor for …

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

Hierarchical visual localization methods achieve state-of-the-art accuracy but require substantial memory as they need to store all database images. Direct 2D-3D matching requires significantly less memory but suffers from lower accuracy…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Measuring and alleviating the discrepancies between the synthetic (source) and real scene (target) data is the core issue for domain adaptive semantic segmentation. Though recent works have introduced depth information in the source domain…

Semantic segmentation is essential for analyzing highdefinition remote sensing images (HRSIs) because it allows the precise classification of objects and regions at the pixel level. However, remote sensing data present challenges owing to…

Semantic segmentation is a fundamental task in computer vision that involves dense pixel-wise classification for scene understanding. Despite significant progress, achieving high accuracy while maintaining real-time performance remains a…

In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…

Multi-session map merging is crucial for extended autonomous operations in large-scale environments. In this paper, we present GMLD, a learning-based local descriptor framework for large-scale multi-session point cloud map merging that…

State-of-the-art object detectors usually learn multi-scale representations to get better results by employing feature pyramids. However, the current designs for feature pyramids are still inefficient to integrate the semantic information…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Accurately matching local features between a pair of images is a challenging computer vision task. Previous studies typically use attention based graph neural networks (GNNs) with fully-connected graphs over keypoints within/across images…

Visual Place Recognition (VPR) requires robust retrieval of geotagged images despite large appearance, viewpoint, and environmental variation. Prior methods focus on descriptor fine-tuning or fixed sampling strategies yet neglect the…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Detecting semantic parts of an object is a challenging task in computer vision, particularly because it is hard to construct large annotated datasets due to the difficulty of annotating semantic parts. In this paper we present an approach…

Recognition of low-quality face images remains a challenge due to invisible or deformation in partial facial regions. For low-quality images dominated by missing partial facial regions, local region similarity contributes more to face…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…

Numerous computer vision applications rely on local feature descriptors, such as SIFT, SURF or FREAK, for image matching. Although their local character makes image matching processes more robust to occlusions, it often leads to…

Semantic change detection is an important task in geoscience and earth observation. By producing a semantic change map for each temporal phase, both the land use land cover categories and change information can be interpreted. Recently some…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

Interest point descriptors have fueled progress on almost every problem in computer vision. Recent advances in deep neural networks have enabled task-specific learned descriptors that outperform hand-crafted descriptors on many problems. We…