Michael Milford

research

∙ 03/10/2022

ReF – Rotation Equivariant Features for Local Feature Matching

Sparse local feature matching is pivotal for many computer vision and ro...

Abhishek Peri, et al. ∙

research

∙ 03/01/2022

SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environments

Visual place recognition (VPR), a fundamental task in computer vision an...

Maria Waheed, et al. ∙

research

∙ 02/24/2022

Highly-Efficient Binary Neural Networks for Visual Place Recognition

VPR is a fundamental task for autonomous navigation as it enables a robo...

Bruno Ferrarini, et al. ∙

research

∙ 02/18/2022

MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagery

Visual Place Recognition (VPR) is a crucial component of 6-DoF localizat...

Ahmad Khaliq, et al. ∙

research

∙ 12/10/2021

Zero-Shot Uncertainty-Aware Deployment of Simulation Trained Policies on Real-World Robots

While deep reinforcement learning (RL) agents have demonstrated incredib...

Krishan Rana, et al. ∙

research

∙ 11/23/2021

PointCrack3D: Crack Detection in Unstructured Environments using a 3D-Point-Cloud-Based Deep Neural Network

Surface cracks on buildings, natural walls and underground mine tunnels ...

Faris Azhari, et al. ∙

research

∙ 09/22/2021

A Benchmark Comparison of Visual Place Recognition Techniques for Resource-Constrained Embedded Platforms

Visual Place Recognition (VPR) has been a subject of significant researc...

Rose Power, et al. ∙

research

∙ 09/22/2021

An Efficient and Scalable Collection of Fly-inspired Voting Units for Visual Place Recognition in Changing Environments

State-of-the-art visual place recognition performance is currently being...

Bruno Arcanjo, et al. ∙

research

∙ 08/11/2021

Zero-Shot Domain Adaptation with a Physics Prior

We explore the zero-shot setting for day-night domain adaptation. The tr...

Attila Lengyel, et al. ∙

research

∙ 07/21/2021

Bayesian Controller Fusion: Leveraging Control Priors in Deep Reinforcement Learning for Robotics

We present Bayesian Controller Fusion (BCF): a hybrid control strategy t...

Krishan Rana, et al. ∙

research

∙ 07/06/2021

A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition

Visual Place Recognition (VPR) approaches have typically attempted to ma...

Nikhil Varma Keetha, et al. ∙

research

∙ 06/22/2021

SeqNetVLAD vs PointNetVLAD: Image Sequence vs 3D Point Clouds for Day-Night Place Recognition

Place Recognition is a crucial capability for mobile robot localization ...

Sourav Garg, et al. ∙

research

∙ 05/07/2021

Probabilistic Visual Place Recognition for Hierarchical Localization

Visual localization techniques often comprise a hierarchical localizatio...

Ming Xu, et al. ∙

research

∙ 04/03/2021

Uncertainty for Identifying Open-Set Errors in Visual Object Detection

Deployed into an open world, object detectors are prone to a type of fal...

Dimity Miller, et al. ∙

research

∙ 03/15/2021

RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching

The use of local detectors and descriptors in typical computer vision pi...

Udit Singh Parihar, et al. ∙

research

∙ 03/02/2021

Sequential Place Learning: Heuristic-Free High-Performance Long-Term Place Recognition

Sequential matching using hand-crafted heuristics has been standard prac...

Marvin Chancán, et al. ∙

research

∙ 03/02/2021

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...

Mihnea-Alexandru Tomită, et al. ∙

research

∙ 02/25/2021

Scene Retrieval for Contextual Visual Mapping

Visual navigation localizes a query place image against a reference data...

William H. B. Smith, et al. ∙

research

∙ 02/23/2021

SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition

Visual Place Recognition (VPR) is the task of matching current visual im...

Sourav Garg, et al. ∙

research

∙ 02/16/2021

Improving Visual Place Recognition Performance by Maximising Complementarity

Visual place recognition (VPR) is the problem of recognising a previousl...

Maria Waheed, et al. ∙

research

∙ 01/02/2021

Semantics for Robotic Mapping, Perception and Interaction: A Survey

For robots to navigate and interact more richly with the world around th...

Sourav Garg, et al. ∙

research

∙ 11/17/2020

DeepSeqSLAM: A Trainable CNN+RNN for Joint Global Description and Sequence-based Place Recognition

Sequence-based place recognition methods for all-weather navigation are ...

Marvin Chancán, et al. ∙

research

∙ 10/01/2020

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...

Bruno Ferrarini, et al. ∙

research

∙ 09/28/2020

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...

Mihnea-Alexandru Tomită, et al. ∙

research

∙ 06/16/2020

Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning

Learning visuomotor control policies in robotic systems is a fundamental...

Marvin Chancán, et al. ∙

research

∙ 06/10/2020

Delta Descriptors: Change-Based Place Representation for Robust Visual Localization

Visual place recognition is challenging because there are so many factor...

Sourav Garg, et al. ∙

research

∙ 05/17/2020

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...

Mubariz Zaffar, et al. ∙

research

∙ 04/06/2020

Class Anchor Clustering: a Distance-based Loss for Training Open Set Classifiers

Existing open set classifiers distinguish between known and unknown inpu...

Dimity Miller, et al. ∙

research

∙ 03/11/2020

Multiplicative Controller Fusion: A Hybrid Navigation Strategy For Deployment in Unknown Environments

Learning-based approaches often outperform hand-coded algorithmic soluti...

Krishan Rana, et al. ∙

research

∙ 03/02/2020

MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation

Autonomous navigation emerges from both motion and local visual percepti...

Marvin Chancán, et al. ∙

research

∙ 01/28/2020

Hierarchical Multi-Process Fusion for Visual Place Recognition

Combining multiple complementary techniques together has long been regar...

Stephen Hausler, et al. ∙

research

∙ 01/23/2020

Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations

Visual place recognition algorithms trade off three key characteristics:...

Sourav Garg, et al. ∙

research

∙ 10/15/2019

A Compact Neural Architecture for Visual Place Recognition

State-of-the-art algorithms for visual place recognition can be broadly ...

Marvin Chancán, et al. ∙

research

∙ 10/10/2019

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...

Marvin Chancán, et al. ∙

research

∙ 09/24/2019

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 ...

Krishan Rana, et al. ∙

research

∙ 09/18/2019

CAMAL: Context-Aware Multi-scale Attention framework for Lightweight Visual Place Recognition

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have ...

Ahmad Khaliq, et al. ∙

research

∙ 08/01/2019

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...

Bruno Ferrarini, et al. ∙

research

∙ 06/27/2019

BTEL: A Binary Tree Encoding Approach for Visual Localization

Visual localization algorithms have achieved significant improvements in...

Huu Le, et al. ∙

research

∙ 06/27/2019

Automatic Coverage Selection for Surface-Based Visual Localization

Localization is a critical capability for robots, drones and autonomous ...

James Mount, et al. ∙

research

∙ 06/21/2019

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

CNNs have excelled at performing place recognition over time, particular...

Stephen Hausler, et al. ∙

research

∙ 04/16/2019

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...

Mubariz Zaffar, et al. ∙

research

∙ 03/21/2019

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...

Mubariz Zaffar, et al. ∙

research

∙ 03/20/2019

LookUP: Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles

A key capability for autonomous underground mining vehicles is real-time...

Fan Zeng, et al. ∙

research

∙ 03/08/2019

Multi-Process Fusion: Visual Place Recognition Using Multiple Image Processing Methods

Typical attempts to improve the capability of visual place recognition t...

Stephen Hausler, et al. ∙

research

∙ 02/20/2019

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...

Sourav Garg, et al. ∙

research

∙ 02/05/2019

SASSE: Scalable and Adaptable 6-DOF Pose Estimation

Visual localization has become a key enabling component of many place re...

Huu Le, et al. ∙

research

∙ 11/08/2018

Memorable Maps: A Framework for Re-defining Places in Visual Place Recognition

A novel cognition-inspired, agnostic framework is proposed for building ...

Mubariz Zaffar, et al. ∙

research

∙ 11/07/2018

A Holistic Visual Place Recognition Approach using Lightweight CNNs for Severe ViewPoint and Appearance Changes

Recently, deep and complex Convolutional Neural Network (CNN) architectu...

Ahmad Khaliq, et al. ∙

research

∙ 10/30/2018

Feature Map Filtering: Improving Visual Place Recognition with Convolutional Calibration

Convolutional Neural Networks (CNNs) have recently been shown to excel a...

Stephen Hausler, et al. ∙

research

∙ 10/24/2018

A Binary Optimization Approach for Constrained K-Means Clustering

K-Means clustering still plays an important role in many computer vision...

Huu Le, et al. ∙

Michael Milford

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