147 citations · 264 across the 12 of their papers we have counts for
12 papers · 1 filter
OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization
Zimin Xia, Mubariz Zaffar, Junsheng Fu +2
Fine-grained Cross-View Localization (CVL) estimates the precise position and orientation of a ground-level image by aligning it with geo-referenced aerial imagery, offering a scal…
The Overlooked Value of Test-time Reference Sets in Visual Place Recognition
Mubariz Zaffar, Liangliang Nan, Sebastian Scherer +1
Given a query image, Visual Place Recognition (VPR) is the task of retrieving an image of the same place from a reference database with robustness to viewpoint and appearance chang…
On the Estimation of Image-matching Uncertainty in Visual Place Recognition
Mubariz Zaffar, Liangliang Nan, Julian F. P. Kooij
In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image ret…
CoPR: Towards Accurate Visual Localization With Continuous Place-descriptor Regression
Mubariz Zaffar, Liangliang Nan, Julian Francisco Pieter Kooij
Visual Place Recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map o…
A Benchmark Comparison of Visual Place Recognition Techniques for Resource-Constrained Embedded Platforms
Rose Power, Mubariz Zaffar, Bruno Ferrarini +3
Visual Place Recognition (VPR) has been a subject of significant research over the last 15 to 20 years. VPR is a fundamental task for autonomous navigation as it enables self-local…
Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choices
Mihnea-Alexandru Tomită, Mubariz Zaffar, Michael Milford +2
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place using visual information under environmental, viewpoint and appearance changes. An emer…
ConvSequential-SLAM: A Sequence-based, Training-less Visual Place Recognition Technique for Changing Environments
Mihnea-Alexandru Tomită, Mubariz Zaffar, Michael Milford +2
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learn…
VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change
Mubariz Zaffar, Sourav Garg, Michael Milford +4
Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes an…
Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?
Mubariz Zaffar, Ahmad Khaliq, Shoaib Ehsan +3
Visual Place Recognition (VPR) has seen significant advances at the frontiers of matching performance and computational superiority over the past few years. However, these evaluati…
Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions
Mubariz Zaffar, Ahmad Khaliq, Shoaib Ehsan +2
In recent years there has been significant improvement in the capability of Visual Place Recognition (VPR) methods, building on the success of both hand-crafted and learnt visual f…
Memorable Maps: A Framework for Re-defining Places in Visual Place Recognition
Mubariz Zaffar, Shoaib Ehsan, Michael Milford +1
This paper presents a cognition-inspired agnostic framework for building a map for Visual Place Recognition. This framework draws inspiration from human-memorability, utilizes the…
Sensors, SLAM and Long-term Autonomy: A Review
Mubariz Zaffar, Shoaib Ehsan, Rustam Stolkin +1
Simultaneous Localization and Mapping, commonly known as SLAM, has been an active research area in the field of Robotics over the past three decades. For solving the SLAM problem,…