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09/13/2023
Motion-Bias-Free Feature-Based SLAM
For SLAM to be safely deployed in unstructured real world environments, ...
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07/04/2023
Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognition
While substantial progress has been made in the absolute performance of ...
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06/30/2023
DisPlacing Objects: Improving Dynamic Vehicle Detection via Visual Place Recognition under Adverse Conditions
Can knowing where you are assist in perceiving objects in your surroundi...
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06/30/2023
Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization
Most 6-DoF localization and SLAM systems use static landmarks but ignore...
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05/09/2023
Visual Place Recognition with Low-Resolution Images
Images incorporate a wealth of information from a robot's surroundings. ...
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05/09/2023
An Evaluation and Ranking of Different Voting Schemes for Improved Visual Place Recognition
Visual Place Recognition has recently seen a surge of endeavours utilizi...
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05/09/2023
Patch-DrosoNet: Classifying Image Partitions With Fly-Inspired Models For Lightweight Visual Place Recognition
Visual place recognition (VPR) enables autonomous systems to localize th...
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03/24/2023
A-MuSIC: An Adaptive Ensemble System For Visual Place Recognition In Changing Environments
Visual place recognition (VPR) is an essential component of robot naviga...
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03/19/2023
Deep Declarative Dynamic Time Warping for End-to-End Learning of Alignment Paths
This paper addresses learning end-to-end models for time series data tha...
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03/01/2023
A Complementarity-Based Switch-Fuse System for Improved Visual Place Recognition
Recently several fusion and switching based approaches have been present...
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02/26/2023
Data-Efficient Sequence-Based Visual Place Recognition with Highly Compressed JPEG Images
Visual Place Recognition (VPR) is a fundamental task that allows a robot...
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11/04/2022
Residual Skill Policies: Learning an Adaptable Skill-based Action Space for Reinforcement Learning for Robotics
Skill-based reinforcement learning (RL) has emerged as a promising strat...
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10/03/2022
Merging Classification Predictions with Sequential Information for Lightweight Visual Place Recognition in Changing Environments
Low-overhead visual place recognition (VPR) is a highly active research ...
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09/17/2022
Data Efficient Visual Place Recognition Using Extremely JPEG-Compressed Images
Visual Place Recognition (VPR) is the ability of a robotic platform to c...
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06/28/2022
Improving Worst Case Visual Localization Coverage via Place-specific Sub-selection in Multi-camera Systems
6-DoF visual localization systems utilize principled approaches rooted i...
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05/27/2022
Improving Road Segmentation in Challenging Domains Using Similar Place Priors
Road segmentation in challenging domains, such as night, snow or rain, i...
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03/10/2022
ReF – Rotation Equivariant Features for Local Feature Matching
Sparse local feature matching is pivotal for many computer vision and ro...
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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...
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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...
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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...
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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...
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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 ...
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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...
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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...
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08/11/2021
Zero-Shot Domain Adaptation with a Physics Prior
We explore the zero-shot setting for day-night domain adaptation. The tr...
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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...
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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...
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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 ...
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05/07/2021
Probabilistic Visual Place Recognition for Hierarchical Localization
Visual localization techniques often comprise a hierarchical localizatio...
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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...
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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...
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03/02/2021
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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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...
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02/25/2021
Scene Retrieval for Contextual Visual Mapping
Visual navigation localizes a query place image against a reference data...
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02/23/2021
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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02/16/2021
Improving Visual Place Recognition Performance by Maximising Complementarity
Visual place recognition (VPR) is the problem of recognising a previousl...
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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...
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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 ...
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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...
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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...
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06/16/2020
Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning
Learning visuomotor control policies in robotic systems is a fundamental...
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06/10/2020
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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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...
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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...
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03/11/2020
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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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...
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01/28/2020
Hierarchical Multi-Process Fusion for Visual Place Recognition
Combining multiple complementary techniques together has long been regar...
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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:...
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10/15/2019
A Compact Neural Architecture for Visual Place Recognition
State-of-the-art algorithms for visual place recognition can be broadly ...
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10/10/2019