相关论文: Voronoi-based Second-order Descriptor with Whitene…

Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…

In this study the Voronoi interpolation is used to interpolate a set of points drawn from a topological space with higher homology groups on its filtration. The technique is based on Voronoi tessellation, which induces a natural dual map to…

We have developed a novel method of determining 2D radial density profiles for astronomical systems of discrete objects using Voronoi tessellations. This Voronoi-based method was tested against the standard annulus-based method on 5…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While VPR techniques built upon a Convolutional Neural Network (CNN) backbone dominate state-of-the-art VPR…

In this work we propose a novel joint training method for Visual Place Recognition (VPR), which simultaneously learns a global descriptor and a pair classifier for re-ranking. The pair classifier can predict whether a given pair of images…

Large-scale visual place recognition (VPR) is inherently challenging because not all visual cues in the image are beneficial to the task. In order to highlight the task-relevant visual cues in the feature embedding, the existing attention…

The dominant approach for learning local patch descriptors relies on small image regions whose scale must be properly estimated a priori by a keypoint detector. In other words, if two patches are not in correspondence, their descriptors…

Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…

In 3D point cloud-based visual self-localization, pole landmarks have a great potential as landmarks for accurate and reliable localization due to their long-term stability under seasonal and weather changes. In this study, we aim to…

PCANet, as one noticeable shallow network, employs the histogram representation for feature pooling. However, there are three main problems about this kind of pooling method. First, the histogram-based pooling method binarizes the feature…

RGB-Thermal salient object detection (SOD) combines two spectra to segment visually conspicuous regions in images. Most existing methods use boundary maps to learn the sharp boundary. These methods ignore the interactions between isolated…

In this paper, we present the submitted system for the second DIHARD Speech Diarization Challenge from the DKULENOVO team. Our diarization system includes multiple modules, namely voice activity detection (VAD), segmentation, speaker…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which…

Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

Mapping between discrete and continuous distributions is a difficult task and many have had to resort to heuristical approaches. We propose a tessellation-based approach that directly learns quantization boundaries in a continuous space,…

Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using…

Visual Place Recognition (VPR) aims to estimate the location of an image by treating it as a retrieval problem. VPR uses a database of geo-tagged images and leverages deep neural networks to extract a global representation, called…