Michael Milford

Uncertainty for Identifying Open-Set Errors in Visual Object Detection

Deployed into an open world, object detectors are prone to a type of fal...
04/03/2021 ∙ by Dimity Miller, et al. ∙ 0 ∙ share

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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...
03/15/2021 ∙ by Udit Singh Parihar, et al. ∙ 20 ∙ share

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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...
03/02/2021 ∙ by Marvin Chancán, et al. ∙ 12 ∙ share

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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...
03/02/2021 ∙ by Mihnea-Alexandru Tomită, et al. ∙ 0 ∙ share

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Scene Retrieval for Contextual Visual Mapping

Visual navigation localizes a query place image against a reference data...
02/25/2021 ∙ by William H. B. Smith, et al. ∙ 4 ∙ share

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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...
02/23/2021 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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Improving Visual Place Recognition Performance by Maximising Complementarity

Visual place recognition (VPR) is the problem of recognising a previousl...
02/16/2021 ∙ by Maria Waheed, et al. ∙ 0 ∙ share

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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...
01/02/2021 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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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 ...
11/17/2020 ∙ by Marvin Chancán, et al. ∙ 13 ∙ share

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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...
10/01/2020 ∙ by Bruno Ferrarini, et al. ∙ 39 ∙ share

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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...
09/28/2020 ∙ by Mihnea-Alexandru Tomită, et al. ∙ 6 ∙ share

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Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning

Learning visuomotor control policies in robotic systems is a fundamental...
06/16/2020 ∙ by Marvin Chancán, et al. ∙ 1 ∙ share

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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...
06/10/2020 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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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...
05/17/2020 ∙ by Mubariz Zaffar, et al. ∙ 6 ∙ share

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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...
04/06/2020 ∙ by Dimity Miller, et al. ∙ 26 ∙ share

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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...
03/11/2020 ∙ by Krishan Rana, et al. ∙ 11 ∙ share

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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...
03/02/2020 ∙ by Marvin Chancán, et al. ∙ 26 ∙ share

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Hierarchical Multi-Process Fusion for Visual Place Recognition

Combining multiple complementary techniques together has long been regar...
01/28/2020 ∙ by Stephen Hausler, et al. ∙ 0 ∙ share

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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:...
01/23/2020 ∙ by Sourav Garg, et al. ∙ 9 ∙ share

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A Compact Neural Architecture for Visual Place Recognition

State-of-the-art algorithms for visual place recognition can be broadly ...
10/15/2019 ∙ by Marvin Chancán, et al. ∙ 53 ∙ share

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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...
10/10/2019 ∙ by Marvin Chancán, et al. ∙ 10 ∙ share

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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 ...
09/24/2019 ∙ by Krishan Rana, et al. ∙ 0 ∙ share

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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 ...
09/18/2019 ∙ by Ahmad Khaliq, et al. ∙ 10 ∙ share

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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...
08/01/2019 ∙ by Bruno Ferrarini, et al. ∙ 6 ∙ share

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BTEL: A Binary Tree Encoding Approach for Visual Localization

Visual localization algorithms have achieved significant improvements in...
06/27/2019 ∙ by Huu Le, et al. ∙ 7 ∙ share

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Automatic Coverage Selection for Surface-Based Visual Localization

Localization is a critical capability for robots, drones and autonomous ...
06/27/2019 ∙ by James Mount, et al. ∙ 0 ∙ share

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Filter Early, Match Late: Improving Network-Based Visual Place Recognition

CNNs have excelled at performing place recognition over time, particular...
06/21/2019 ∙ by Stephen Hausler, et al. ∙ 0 ∙ share

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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...
04/16/2019 ∙ by Mubariz Zaffar, et al. ∙ 32 ∙ share

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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...
03/21/2019 ∙ by Mubariz Zaffar, et al. ∙ 2 ∙ share

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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...
03/20/2019 ∙ by Fan Zeng, et al. ∙ 0 ∙ share

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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...
03/08/2019 ∙ by Stephen Hausler, et al. ∙ 0 ∙ share

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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...
02/20/2019 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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SASSE: Scalable and Adaptable 6-DOF Pose Estimation

Visual localization has become a key enabling component of many place re...
02/05/2019 ∙ by Huu Le, et al. ∙ 14 ∙ share

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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 ...
11/08/2018 ∙ by Mubariz Zaffar, et al. ∙ 4 ∙ share

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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...
11/07/2018 ∙ by Ahmad Khaliq, et al. ∙ 10 ∙ share

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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...
10/30/2018 ∙ by Stephen Hausler, et al. ∙ 0 ∙ share

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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...
10/24/2018 ∙ by Huu Le, et al. ∙ 8 ∙ share

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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...
10/23/2018 ∙ by Huu Le, et al. ∙ 2 ∙ share

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An Orientation Factor for Object-Oriented SLAM

Current approaches to object-oriented SLAM lack the ability to incorpora...
09/19/2018 ∙ by Natalie Jablonsky, et al. ∙ 0 ∙ share

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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...
09/17/2018 ∙ by Dimity Miller, et al. ∙ 8 ∙ share

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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...
07/11/2018 ∙ by Jake Bruce, et al. ∙ 0 ∙ share

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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...
04/18/2018 ∙ by Niko Sünderhauf, et al. ∙ 0 ∙ share

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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...
04/16/2018 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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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...
04/10/2018 ∙ by Lachlan Nicholson, et al. ∙ 0 ∙ share

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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...
04/06/2018 ∙ by Ben Talbot, et al. ∙ 0 ∙ share

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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...
01/16/2018 ∙ by Sourav Garg, et al. ∙ 0 ∙ share

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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...
12/20/2017 ∙ by Litao Yu, et al. ∙ 0 ∙ share

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One-Shot Reinforcement Learning for Robot Navigation with Interactive Replay

Recently, model-free reinforcement learning algorithms have been shown t...
11/28/2017 ∙ by Jake Bruce, et al. ∙ 0 ∙ share

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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 ...
09/18/2017 ∙ by Fangyi Zhang, et al. ∙ 0 ∙ share

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Multi-Modal Trip Hazard Affordance Detection On Construction Sites

Trip hazards are a significant contributor to accidents on construction ...
06/21/2017 ∙ by Sean McMahon, et al. ∙ 0 ∙ share

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Michael Milford

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