相关论文: Voronoi-based Second-order Descriptor with Whitene…
Despite the fact that Second Order Similarity (SOS) has been used with significant success in tasks such as graph matching and clustering, it has not been exploited for learning local descriptors. In this work, we explore the potential of…
Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database. Recently, the emergence of the powerful visual foundation…
By stacking layers of convolution and nonlinearity, convolutional networks (ConvNets) effectively learn from low-level to high-level features and discriminative representations. Since the end goal of large-scale recognition is to delineate…
Novelty detection aims to automatically identify out-of-distribution (OOD) data, without any prior knowledge of them. It is a critical step in data monitoring, behavior analysis and other applications, helping enable continual learning in…
Fine-grained temporal action parsing is important in many applications, such as daily activity understanding, human motion analysis, surgical robotics and others requiring subtle and precise operations in a long-term period. In this paper…
Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial…
Local binary descriptors are attracting increasingly attention due to their great advantages in computational speed, which are able to achieve real-time performance in numerous image/vision applications. Various methods have been proposed…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
Real-world knowledge is often organized as hierarchies such as product taxonomies, medical ontologies, and label trees, yet learning hierarchical representations is challenging due to asymmetric structure and noisy semantics. We introduce…
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…
Higher-order Voronoi diagrams and Delaunay mosaics in polygonal metrics have only recently been studied, yet no tools exist for visualizing them. We introduce a tool that fills this gap, providing dynamic interactive software for…
Detecting out-of-distribution (OOD) examples is an important task for deploying reliable machine learning models in safety-critial applications. While post-hoc methods based on the Mahalanobis distance applied to pre-logit features are…
Real-time visual localization often utilizes online computing, for which query images or videos are transmitted to remote servers for visual place recognition (VPR). However, limited network bandwidth necessitates image-quality reduction…
Recently, polar-based representation has shown promising properties in perceptual tasks. In addition to Cartesian-based approaches, which separate point clouds unevenly, representing point clouds as polar grids has been recognized as an…
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…
Fine-grained visual recognition is challenging because it highly relies on the modeling of various semantic parts and fine-grained feature learning. Bilinear pooling based models have been shown to be effective at fine-grained recognition,…
Lidar has become a cornerstone sensing modality for 3D vision, especially for large outdoor scenarios and autonomous driving. Conventional lidar sensors are capable of providing centimeter-accurate distance information by emitting laser…
The task of Visual Place Recognition (VPR) is to predict the location of a query image from a database of geo-tagged images. Recent studies in VPR have highlighted the significant advantage of employing pre-trained foundation models like…
LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…
Distance metric learning is a successful way to enhance the performance of the nearest neighbor classifier. In most cases, however, the distribution of data does not obey a regular form and may change in different parts of the feature…