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Uncertainty for Identifying Open-Set Errors in Visual Object Detection
Deployed into an open world, object detectors are prone to a type of fal...
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RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
The use of local detectors and descriptors in typical computer vision pi...
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Sequential Place Learning: Heuristic-Free High-Performance Long-Term Place Recognition
Sequential matching using hand-crafted heuristics has been standard prac...
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Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choices
Visual Place Recognition (VPR) is the ability to correctly recall a prev...
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Scene Retrieval for Contextual Visual Mapping
Visual navigation localizes a query place image against a reference data...
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SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition
Visual Place Recognition (VPR) is the task of matching current visual im...
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Improving Visual Place Recognition Performance by Maximising Complementarity
Visual place recognition (VPR) is the problem of recognising a previousl...
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Semantics for Robotic Mapping, Perception and Interaction: A Survey
For robots to navigate and interact more richly with the world around th...
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DeepSeqSLAM: A Trainable CNN+RNN for Joint Global Description and Sequence-based Place Recognition
Sequence-based place recognition methods for all-weather navigation are ...
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Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments
Visual place recognition (VPR) is a robot's ability to determine whether...
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ConvSequential-SLAM: A Sequence-based, Training-less Visual Place Recognition Technique for Changing Environments
Visual Place Recognition (VPR) is the ability to correctly recall a prev...
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Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning
Learning visuomotor control policies in robotic systems is a fundamental...
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Delta Descriptors: Change-Based Place Representation for Robust Visual Localization
Visual place recognition is challenging because there are so many factor...
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VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change
Visual Place Recognition (VPR) is the process of recognising a previousl...
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Class Anchor Clustering: a Distance-based Loss for Training Open Set Classifiers
Existing open set classifiers distinguish between known and unknown inpu...
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Multiplicative Controller Fusion: A Hybrid Navigation Strategy For Deployment in Unknown Environments
Learning-based approaches often outperform hand-coded algorithmic soluti...
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MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation
Autonomous navigation emerges from both motion and local visual percepti...
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Hierarchical Multi-Process Fusion for Visual Place Recognition
Combining multiple complementary techniques together has long been regar...
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Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations
Visual place recognition algorithms trade off three key characteristics:...
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A Compact Neural Architecture for Visual Place Recognition
State-of-the-art algorithms for visual place recognition can be broadly ...
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From Visual Place Recognition to Navigation: Learning Sample-Efficient Control Policies across Diverse Real World Environments
Visual navigation tasks in real world environments often require both se...
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Residual Reactive Navigation: Combining Classical and Learned Navigation Strategies For Deployment in Unknown Environments
In this work we focus on improving the efficiency and generalisation of ...
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CAMAL: Context-Aware Multi-scale Attention framework for Lightweight Visual Place Recognition
In the last few years, Deep Convolutional Neural Networks (D-CNNs) have ...
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Visual Place Recognition for Aerial Robotics: Exploring Accuracy-Computation Trade-off for Local Image Descriptors
Visual Place Recognition (VPR) is a fundamental yet challenging task for...
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BTEL: A Binary Tree Encoding Approach for Visual Localization
Visual localization algorithms have achieved significant improvements in...
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Automatic Coverage Selection for Surface-Based Visual Localization
Localization is a critical capability for robots, drones and autonomous ...
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Filter Early, Match Late: Improving Network-Based Visual Place Recognition
CNNs have excelled at performing place recognition over time, particular...
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Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?
Visual Place Recognition (VPR) has seen significant advances at the fron...
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Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions
In recent years there has been significant improvement in the capability...
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LookUP: Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles
A key capability for autonomous underground mining vehicles is real-time...
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Multi-Process Fusion: Visual Place Recognition Using Multiple Image Processing Methods
Typical attempts to improve the capability of visual place recognition t...
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Look No Deeper: Recognizing Places from Opposing Viewpoints under Varying Scene Appearance using Single-View Depth Estimation
Visual place recognition (VPR) - the act of recognizing a familiar visua...
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SASSE: Scalable and Adaptable 6-DOF Pose Estimation
Visual localization has become a key enabling component of many place re...
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Memorable Maps: A Framework for Re-defining Places in Visual Place Recognition
A novel cognition-inspired, agnostic framework is proposed for building ...
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A Holistic Visual Place Recognition Approach using Lightweight CNNs for Severe ViewPoint and Appearance Changes
Recently, deep and complex Convolutional Neural Network (CNN) architectu...
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Feature Map Filtering: Improving Visual Place Recognition with Convolutional Calibration
Convolutional Neural Networks (CNNs) have recently been shown to excel a...
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A Binary Optimization Approach for Constrained K-Means Clustering
K-Means clustering still plays an important role in many computer vision...
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Large scale visual place recognition with sub-linear storage growth
Robotic and animal mapping systems share many of the same objectives and...
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An Orientation Factor for Object-Oriented SLAM
Current approaches to object-oriented SLAM lack the ability to incorpora...
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Evaluating Merging Strategies for Sampling-based Uncertainty Techniques in Object Detection
There has been a recent emergence of sampling-based techniques for estim...
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Learning Deployable Navigation Policies at Kilometer Scale from a Single Traversal
Model-free reinforcement learning has recently been shown to be effectiv...
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The Limits and Potentials of Deep Learning for Robotics
The application of deep learning in robotics leads to very specific prob...
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LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics
Human visual scene understanding is so remarkable that we are able to re...
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QuadricSLAM: Constrained Dual Quadrics from Object Detections as Landmarks in Semantic SLAM
Research in Simultaneous Localization And Mapping (SLAM) is increasingly...
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OpenSeqSLAM2.0: An Open Source Toolbox for Visual Place Recognition Under Changing Conditions
Visually recognising a traversed route - regardless of whether seen duri...
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Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition
When a human drives a car along a road for the first time, they later re...
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Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost
Robotic and animal mapping systems share many challenges and characteris...
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One-Shot Reinforcement Learning for Robot Navigation with Interactive Replay
Recently, model-free reinforcement learning algorithms have been shown t...
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Sim-to-real Transfer of Visuo-motor Policies for Reaching in Clutter: Domain Randomization and Adaptation with Modular Networks
A modular method is proposed to learn and transfer visuo-motor policies ...
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Multi-Modal Trip Hazard Affordance Detection On Construction Sites
Trip hazards are a significant contributor to accidents on construction ...
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