5 papers · 1 filter
Pair-VPR: Place-Aware Pre-training and Contrastive Pair Classification for Visual Place Recognition with Vision Transformers
Stephen Hausler, Peyman Moghadam
In this work we propose a novel joint training method for Visual Place Recognition (VPR), which simultaneously learns a global descriptor and a pair classifier for re-ranking. The…
WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environments
Kavisha Vidanapathirana, Joshua Knights, Stephen Hausler +8
Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments.…
Object Registration in Neural Fields
David Hall, Stephen Hausler, Sutharsan Mahendren +1
Neural fields provide a continuous scene representation of 3D geometry and appearance in a way which has great promise for robotics applications. One functionality that unlocks uni…
Towards Long-term Robotics in the Wild
Stephen Hausler, Ethan Griffiths, Milad Ramezani +1
In this paper, we emphasise the critical importance of large-scale datasets for advancing field robotics capabilities, particularly in natural environments. While numerous datasets…
Reg-NF: Efficient Registration of Implicit Surfaces within Neural Fields
Stephen Hausler, David Hall, Sutharsan Mahendren +1
Neural fields, coordinate-based neural networks, have recently gained popularity for implicitly representing a scene. In contrast to classical methods that are based on explicit re…