The task of UAV-view geo-localization is to match a query image with database images to estimate the current geographic location of the query image. This is particularly useful in environments where GPS is not available or when the device fails. Although deep learning methods make sufficient progress in UAV-view geo-localization, they still face challenges in improving the distinguishability of features. For instance, some feature aggregation methods do not consider semantic integrity, and robust elements in the image are not given enough attention. This paper proposes a UAV-view geo-localization method (APA-BI) to tackle the above issues. Specifically, we propose an adaptive partition aggregation method to ensure feature integrity at the semantic level by increasing the receptive field of the classifier module. At the same time, we design a bidirectional integration module to further enhance feature distinguishability by extracting robust tubular topological structures from images. Experimental results on public datasets demonstrate that APA-BI achieves impressive retrieval accuracy and outperforms most state-of-the-art methods. Moreover, the test results of APA-BI in real-world scenarios also show excellent performance.

Most current LiDAR-based odometry methods use point-to-local plane registration to constrain poses, ignoring the explicit plane structure in the environment. Due to noise interference and uneven distribution of point cloud, local planes are prone to tilt, resulting in registration errors. Therefore, we propose MSPA-LIO, a LiDAR-Inertial odometry with multi-scale plane adjustment, which uses geometric constraints and plane adjustment at both local voxel plane scale and large plane scale to improve odometry accuracy and enhance map consistency. In order to make full use of the planar structure in the environment, we propose an explicit large plane extraction method based on the voxel-based. We use large planes to correct the direction of the associated voxel planes, thereby overcoming the misregistration problem caused by local plane tilt. To further improve the odometry accuracy, we perform plane adjustments at the voxel plane scale and the large plane scale to make the pose and map more consistent. Experiments conducted on the VECtor Dataset and the Newer College Dataset demonstrate that our proposed algorithm outperforms four state-of-the-art algorithms.

The data fusion of camera, IMU, and wheel encoder measurements has proved its effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic parameters is its premise. We propose an extrinsic parameter calibration algorithm and a multi-sensor-based pose estimation algorithm for the camera-IMU-wheel encoder system. First, we propose a joint calibration algorithm for the extrinsic parameters of the camera-IMU-wheel encoder system, which improves the accuracy and robustness of the camera-wheel encoder calibration. We then extend the visual-inertial odometry (VIO) to incorporate the measurements from the wheel encoder and weight the wheel encoder measurements according to angular velocity in global optimization to improve the performance. We further propose a novel method for VIO initialization by integrating wheel encoder information, which significantly reduces the scale error in initialization. We conduct extrinsic parameter calibration experiments on a real self-driving car and validate the performance of our multi-sensor-based localization system on the KAIST dataset and a dataset collected by our self-driving vehicles by performing an exhaust comparison with the state-of-the-art algorithms. Our implementations are open source11https://github.com/chunxiaoqiao/VIW-Fusion.git.

Unsupervised person re-identification (re-ID) attracts growing attention due to its broad prospects in practical applications. State-of-the-art unsupervised re-ID approaches combine clustering-based pseudo-label prediction with feature fine-tuning. However, pseudo labels generated directly by clustering are not always reliable and inevitably contain noisy labels. To tackle these challenges, we propose a novel noise inhibition framework to estimate the confidence of each pseudo label and actively correct noisy labels. By introducing the silhouette coefficient, our method can estimate the pseudo-label confidence without any extra model or data, and calculate the correction matrix to correct clustering results directly. However, the silhouette coefficient is usually applied on the hyper-parameters selection of clustering algorithms. In order to make the silhouette coefficient more suitable for estimation and correction tasks, we calibrate the Jaccard distance matrix to alleviate the negative influence of the cluster size on the silhouette coefficient. Our proposed method brings significant improvement and achieves the state-of-the-art performance on benchmark datasets.

Deep learning based salient object detection methods have recently received significant attention. However, current methods still suffer from shortcomings such as informative background information being ignored which a significant problem for image saliency understanding. Additionally, it is also a challenge to suppress the noisy features in the network. By analyzing the difference between high-level and low-level features from ResNet-50, we utilize a Bilateral Feature Fusion (BFF) module to deal with the problem caused by ignoring informative background information. Benefitting from the BFF module, our proposed network can capture more meaningful foreground and background cues, which helps to get a more accurate saliency map. Moreover, we adopt a Score Sorting Attention (SSA) module which suppresses noisy and irrelevant features. Experimental results on five benchmark datasets demonstrate that our proposed method performs better than other state-of-the-art methods. The ablation studies also prove our contributions.