7 accepted papers
We introduce Hybrid Convolutions with Attention Stochasticity (HyCAS), an adversarial defense that narrows the long-standing gap between provable robustness under ℓ2 certificates and empirical robustness against strong ℓ∞ attacks, while preserving strong generalization across diverse imaging benchma…
This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple granularities to increase robustness to clutter, self-similarity
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios across urban and forest environments. We propose an octree-based multi-scale attention mechanism that captures spatial an…
This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph optimisation. The proposed method addresses the challenges of aligni
Masked Image Modeling (MIM) is a powerful self-supervised strategy for visual pre-training without the use of labels. MIM applies random crops to input images, processes them with an encoder, and then recovers the masked inputs with a decoder, which encourages the network to capture and learn struct…
The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be compromised in challenging environments such as forests. To…
We propose a rate-distortion optimized framework for estimating illumination changes (lighting variations, fade in/out effects) in a highly scalable coding system. Illumination variations are realized using multiplicative factors in the image domain and are estimated considering the coding cost of t…