相关论文: SAFEVPR: Patch-Based Conformal Verification for Sa…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM). VPR faces challenges such as accurate image neighbor retrieval…

Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…

Visual Place Recognition (VPR) determines a query image's geographic location by matching it against geotagged databases. However, existing methods struggle with perceptual aliasing caused by irrelevant regions and inefficient re-ranking…

Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…

Autonomous robots that rely on deep neural network controllers pose critical challenges for safety prediction, especially under partial observability and distribution shift. Traditional model-based verification techniques are limited in…

Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…

The task of Visual Place Recognition (VPR) aims to match a query image against references from an extensive database of images from different places, relying solely on visual cues. State-of-the-art pipelines focus on the aggregation of…

Large Language Models are rapidly becoming core components of modern software development workflows, yet ensuring code security remains challenging. Existing vulnerability detection pipelines either rely on static analyzers or use…

The condition monitoring (CM) of synthetic fibre ropes (SFRs) used in offshore, maritime, and industrial settings demands more than a classifier: inspectors need continuous severity estimates, maintenance recommendations, anomaly flags,…

Conformal prediction is widely used to equip black-box machine learning models with uncertainty quantification, offering formal coverage guarantees under exchangeable data. However, these guarantees fail when faced with subpopulation…

In robotics, Visual Place Recognition is a continuous process that receives as input a video stream to produce a hypothesis of the robot's current position within a map of known places. This task requires robust, scalable, and efficient…

Visual anomaly detection (AD) for industrial inspection is a highly relevant task in modern production environments. The problem becomes particularly challenging when training and deployment data differ due to changes in acquisition…

In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal place recognition (MPR) has shown promise in overcoming the…

Visual Place Recognition (VPR) is an important component in both computer vision and robotics applications, thanks to its ability to determine whether a place has been visited and where specifically. A major challenge in VPR is to handle…

In autonomous driving, place recognition is critical for global localization in GPS-denied environments. LiDAR and radar-based place recognition methods have garnered increasing attention, as LiDAR provides precise ranging, whereas radar…

In this work, by re-examining the "matching" nature of Anomaly Detection (AD), we propose a new AD framework that simultaneously enjoys new records of AD accuracy and dramatically high running speed. In this framework, the anomaly detection…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While Convolution Neural Networks (CNNs) currently dominate state-of-the-art VPR performance, their high…

Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…

Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…