We present a method of improving visual place recognition and metric localisation under very strong appear- ance change. We learn an invertable generator that can trans- form the conditions of images, e.g. from day to night, summer to winter etc. This image transforming filter is explicitly designed to aid and abet feature-matching using a new loss based on SURF detector and dense descriptor maps. A network is trained to output synthetic images optimised for feature matching given only an input RGB image, and these generated images are used to localize the robot against a previously built map using traditional sparse matching approaches. We benchmark our results using multiple traversals of the Oxford RobotCar Dataset over a year-long period, using one traversal as a map and the other to localise. We show that this method significantly improves place recognition and localisation under changing and adverse conditions, while reducing the number of mapping runs needed to successfully achieve reliable localisation.
Queensland University of Technology (QUT)（昆士兰科技大学）
Current multi-person localisation and tracking systems have an over reliance on the use of appearance models for target re-identification and almost no approaches employ a complete deep learning solution for both objectives. We present a novel, complete deep learning framework for multi-person localisation and tracking. In this context we first introduce a light weight sequential Generative Adversarial Network architecture for person localisation, which overcomes issues related to occlusions and noisy detections, typically found in a multi person environment. In the proposed tracking framework…
We address the problem of localisation of objects as bounding boxes in images with weak labels. This weakly supervised object localisation problem has been tackled in the past using discriminative models where each object class is localised independently from other classes. We propose a novel framework based on Bayesian joint topic modelling. Our framework has three distinctive advantages over previous works: (1) All object classes and image backgrounds are modelled jointly together in a single generative model so that "explaining away" inference can resolve ambiguity and lead to better learni…
University of Oxford（牛津大学）；University of Málaga（马拉加大学）
We present LaLaLoc to localise in environments without the need for prior visitation, and in a manner that is robust to large changes in scene appearance, such as a full rearrangement of furniture. Specifically, LaLaLoc performs localisation through latent representations of room layout. LaLaLoc learns a rich embedding space shared between RGB panoramas and layouts inferred from a known floor plan that encodes the structural similarity between locations. Further, LaLaLoc introduces direct, cross-modal pose optimisation in its latent space. Thus, LaLaLoc enables fine-grained pose estimation in …
How many times does a human have to drive through the same area to become familiar with it? To begin with, we might first build a mental model of our surroundings. Upon revisiting this area, we can use this model to extrapolate to new unseen locations and imagine their appearance. Based on this, we propose an approach where an agent is capable of modelling new environments after a single visitation. To this end, we introduce "Deep Imagination", a combination of classical Visual-based Monte Carlo Localisation and deep learning. By making use of a feature embedded 3D map, the system can "imagine…
Beyond Clear Skies: Synthetic Seasonal and Weather Variations for Real-World Drone Detection
Institute for the Protection of Terrestrial Infrastructures, German Aerospace Center (DLR)（德国航空航天中心陆地基础设施保护研究所）；ACIDA Lab, Technical University of Applied Sciences Würzburg-Schweinfurt（维尔茨堡-施韦因富特应用技术大学ACIDA实验室）
Genuine Knowledge from Practice: Diffusion Test-Time Adaptation for Video Adverse Weather Removal
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；University of Cambridge（剑桥大学）；ETH Zürich（苏黎世联邦理工学院）；The Hong Kong University of Science and Technology（香港科技大学）；The Hong Kong Polytechnic University（香港理工大学）
Joint Multi-Condition Representation Modelling via Matrix Factorisation for Visual Place Recognition
School of Electronics and Computer Science, University of Southampton（苏塞克斯大学电子与计算机科学学院）；Department of Computer Science and Engineering, Hanyang University（翰阳大学计算机科学与工程系）；QUT Centre for Robotics, School of Electrical Engineering and Robotics（昆士兰大学机器人中心、电气工程与机器人学院）；School of Computer Science and Electronic Engineering, University of Essex（埃塞克斯大学计算机科学与电子工程学院）
Heriot-Watt University（赫瑞瓦特大学）；University of Essex（埃塞克斯大学）；TU Delft（代尔夫特理工大学）；Queensland University of Technology（昆士兰科技大学）
Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the concepts of localisation, loop closure, image retrieval and is a critical component of many autonomous navigation systems ranging from autonomous vehicles to drones and computer vision systems. While the concept of place recognition has been around for many years, VPR research has grown rapidly as a field over the past decade due to improving camera hardware and…
University of Nottingham（诺丁汉大学）；Queen Mary University of London（伦敦玛丽女王大学）；Samsung AI Center Cambridge（三星剑桥人工智能中心）
Action Units (AUs) are geometrically-based atomic facial muscle movements known to produce appearance changes at specific facial locations. Motivated by this observation we propose a novel AU modelling problem that consists of jointly estimating their localisation and intensity. To this end, we propose a simple yet efficient approach based on Heatmap Regression that merges both problems into a single task. A Heatmap models whether an AU occurs or not at a given spatial location. To accommodate the joint modelling of AUs intensity, we propose variable size heatmaps, with their amplitude and siz…
This paper investigates how to perform robust visual tracking in adverse and challenging conditions using complementary visual and thermal infrared data (RGBT tracking). We propose a novel deep network architecture called qualityaware Feature Aggregation Network (FANet) for robust RGBT tracking. Unlike existing RGBT trackers, our FANet aggregates hierarchical deep features within each modality to handle the challenge of significant appearance changes caused by deformation, low illumination, background clutter and occlusion. In particular, we employ the operations of max pooling to transform th…
In this paper, we propose a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition that is guided by a vanishing point under adverse weather conditions. We tackle rainy and low illumination conditions, which have not been extensively studied until now due to clear challenges. For example, images taken under rainy days are subject to low illumination, while wet roads cause light reflection and distort the appearance of lane and road markings. At night, color distortion occurs under limited illumination. As a result, no benchmark data…
Pompeu Fabra University（庞培法布拉大学）；University of Augsburg（奥格斯堡大学）；Imperial College London（伦敦帝国学院）
Affective Computing has recently attracted the attention of the research community, due to its numerous applications in diverse areas. In this context, the emergence of video-based data allows to enrich the widely used spatial features with the inclusion of temporal information. However, such spatio-temporal modelling often results in very high-dimensional feature spaces and large volumes of data, making training difficult and time consuming. This paper addresses these shortcomings by proposing a novel model that efficiently extracts both spatial and temporal features of the data by means of i…
In this work, we develop methods for few-shot image classification from a new perspective of optimal matching between image regions. We employ the Earth Mover's Distance (EMD) as a metric to compute a structural distance between dense image representations to determine image relevance. The EMD generates the optimal matching flows between structural elements that have the minimum matching cost, which is used to calculate the image distance for classification. To generate the important weights of elements in the EMD formulation, we design a cross-reference mechanism, which can effectively allevi…
Segment Any Motion with Radar: Robust Multimodal Moving-Object Segmentation and Tracking
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Great Bay University, Dongguan（大湾区大学（东莞））；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
