7 papers
Breaking Déjà Vu: Independent Auditing of Visual Place Recognition through Vision-Language Reasoning
Sania Waheed, Michael Milford, Sarvapali D. Ramchurn +1
Visual place recognition (VPR) is a key enabler of accurate localization and long-term autonomous navigation in robotics applications, such as loop closure detection for simultaneo…
Assessing the Geolocation Capabilities, Limitations and Societal Risks of Generative Vision-Language Models
Oliver Grainge, Sania Waheed, Jack Stilgoe +2
Geo-localization is the task of identifying the location of an image using visual cues alone. It has beneficial applications, such as improving disaster response, enhancing navigat…
VLM-Guided Visual Place Recognition for Planet-Scale Geo-Localization
Sania Waheed, Na Min An, Michael Milford +2
Geo-localization from a single image at planet scale (essentially an advanced or extreme version of the kidnapped robot problem) is a fundamental and challenging task in applicatio…
Image Embedding Sampling Method for Diverse Captioning
Sania Waheed, Na Min An
Image Captioning for state-of-the-art VLMs has significantly improved over time; however, this comes at the cost of increased computational complexity, making them less accessible…
Image-based Geo-localization for Robotics: Are Black-box Vision-Language Models there yet?
Sania Waheed, Bruno Ferrarini, Michael Milford +2
The advances in Vision-Language models (VLMs) offer exciting opportunities for robotic applications involving image geo-localization - the problem of identifying the geo-coordinate…
A Complementarity-Based Switch-Fuse System for Improved Visual Place Recognition
Maria Waheed, Sania Waheed, Michael Milford +2
Recently several fusion and switching based approaches have been presented to solve the problem of Visual Place Recognition. In spite of these systems demonstrating significant boo…
Visual Place Recognition for Aerial Robotics: Exploring Accuracy-Computation Trade-off for Local Image Descriptors
Bruno Ferrarini, Maria Waheed, Sania Waheed +3
Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited comput…