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cs.RO2024
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…
cs.RO2024
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…