Keyframe-Based Feed-Forward Visual Odometry

The emergence of visual foundation models has revolutionized visual odometry~(VO) and SLAM, enabling pose estimation and dense reconstruction within a single feed-forward network. However, unlike traditional pipelines that leverage keyframe methods to enhance efficiency and accuracy, current foundation model based methods, such as VGGT-Long, typically process raw image sequences indiscriminately. This leads to computational redundancy and degraded performance caused by low inter-frame parallax, which provides limited contextual stereo information. Integrating traditional geometric heuristics into these methods is non-trivial, as their performance depends on high-dimensional latent representations rather than explicit geometric metrics. To bridge this gap, we propose a novel keyframe-based feed-forward VO. Instead of relying on hand-crafted rules, our approach employs reinforcement learning to derive an adaptive keyframe policy in a data-driven manner, aligning selection with the intrinsic characteristics of the underlying foundation model. We train our agent on TartanAir dataset and conduct extensive evaluations across several real-world datasets. Experimental results demonstrate that the proposed method achieves consistent and substantial improvements over state-of-the-art feed-forward VO methods.

DC-VLAQ: Query-Residual Aggregation for Robust Visual Place Recognition

One of the central challenges in visual place recognition (VPR) is learning a robust global representation that remains discriminative under large viewpoint changes, illumination variations, and severe domain shifts. While visual foundation models (VFMs) provide strong local features, most existing methods rely on a single model, overlooking the complementary cues offered by different VFMs. However, exploiting such complementary information inevitably alters token distributions, which challenges the stability of existing query-based global aggregation schemes. To address these challenges, we propose DC-VLAQ, a representation-centric framework that integrates the fusion of complementary VFMs and robust global aggregation. Specifically, we first introduce a lightweight residual-guided complementary fusion that anchors representations in the DINOv2 feature space while injecting complementary semantics from CLIP through a learned residual correction. In addition, we propose the Vector of Local Aggregated Queries (VLAQ), a query--residual global aggregation scheme that encodes local tokens by their residual responses to learnable queries, resulting in improved stability and the preservation of fine-grained discriminative cues. Extensive experiments on standard VPR benchmarks, including Pitts30k, Tokyo24/7, MSLS, Nordland, SPED, and AmsterTime, demonstrate that DC-VLAQ consistently outperforms strong baselines and achieves state-of-the-art performance, particularly under challenging domain shifts and long-term appearance changes.

Spontaneous Spatial Cognition Emerges during Egocentric Video Viewing through Non-invasive BCI

Humans possess a remarkable capacity for spatial cognition, allowing for self-localization even in novel or unfamiliar environments. While hippocampal neurons encoding position and orientation are well documented, the large-scale neural dynamics supporting spatial representation, particularly during naturalistic, passive experience, remain poorly understood. Here, we demonstrate for the first time that non-invasive brain-computer interfaces (BCIs) based on electroencephalography (EEG) can decode spontaneous, fine-grained egocentric 6D pose, comprising three-dimensional position and orientation, during passive viewing of egocentric video. Despite EEG's limited spatial resolution and high signal noise, we find that spatially coherent visual input (i.e., continuous and structured motion) reliably evokes decodable spatial representations, aligning with participants' subjective sense of spatial engagement. Decoding performance further improves when visual input is presented at a frame rate of 100 ms per image, suggesting alignment with intrinsic neural temporal dynamics. Using gradient-based backpropagation through a neural decoding model, we identify distinct EEG channels contributing to position -- and orientation specific -- components, revealing a distributed yet complementary neural encoding scheme. These findings indicate that the brain's spatial systems operate spontaneously and continuously, even under passive conditions, challenging traditional distinctions between active and passive spatial cognition. Our results offer a non-invasive window into the automatic construction of egocentric spatial maps and advance our understanding of how the human mind transforms everyday sensory experience into structured internal representations.

3D Scene-Camera Representation with Joint Camera Photometric Optimization

Representing scenes from multi-view images is a crucial task in computer vision with extensive applications. However, inherent photometric distortions in the camera imaging can significantly degrade image quality. Without accounting for these distortions, the 3D scene representation may inadvertently incorporate erroneous information unrelated to the scene, diminishing the quality of the representation. In this paper, we propose a novel 3D scene-camera representation with joint camera photometric optimization. By introducing internal and external photometric model, we propose a full photometric model and corresponding camera representation. Based on simultaneously optimizing the parameters of the camera representation, the proposed method effectively separates scene-unrelated information from the 3D scene representation. Additionally, during the optimization of the photometric parameters, we introduce a depth regularization to prevent the 3D scene representation from fitting scene-unrelated information. By incorporating the camera model as part of the mapping process, the proposed method constructs a complete map that includes both the scene radiance field and the camera photometric model. Experimental results demonstrate that the proposed method can achieve high-quality 3D scene representations, even under conditions of imaging degradation, such as vignetting and dirt.

Uncertainty Aware Human-machine Collaboration in Camouflaged Object Detection

Camouflaged Object Detection (COD), the task of identifying objects concealed within their environments, has seen rapid growth due to its wide range of practical applications. A key step toward developing trustworthy COD systems is the estimation and effective utilization of uncertainty. In this work, we propose a human-machine collaboration framework for classifying the presence of camouflaged objects, leveraging the complementary strengths of computer vision (CV) models and noninvasive brain-computer interfaces (BCIs). Our approach introduces a multiview backbone to estimate uncertainty in CV model predictions, utilizes this uncertainty during training to improve efficiency, and defers low-confidence cases to human evaluation via RSVP-based BCIs during testing for more reliable decision-making. We evaluated the framework in the CAMO dataset, achieving state-of-the-art results with an average improvement of 4.56\% in balanced accuracy (BA) and 3.66\% in the F1 score compared to existing methods. For the best-performing participants, the improvements reached 7.6\% in BA and 6.66\% in the F1 score. Analysis of the training process revealed a strong correlation between our confidence measures and precision, while an ablation study confirmed the effectiveness of the proposed training policy and the human-machine collaboration strategy. In general, this work reduces human cognitive load, improves system reliability, and provides a strong foundation for advancements in real-world COD applications and human-computer interaction. Our code and data are available at: https://github.com/ziyuey/Uncertainty-aware-human-machine-collaboration-in-camouflaged-object-identification.

SLC$^2$-SLAM: Semantic-guided Loop Closure with Shared Latent Code for NeRF SLAM

Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure with Shared Latent Code, dubbed SLC$^2$-SLAM. Especially, we argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as they are only used for better reconstruction. In this paper, we propose a simple yet effective way to detect potential loops using the same latent codes as local features. To further improve the loop detection performance, we use the semantic information, which are also decoded from the same latent codes to guide the aggregation of local features. Finally, with the potential loops detected, we close them with a graph optimization followed by bundle adjustment to refine both the estimated poses and the reconstructed scene. To evaluate the performance of our SLC$^2$-SLAM, we conduct extensive experiments on Replica and ScanNet datasets. Our proposed semantic-guided loop closure significantly outperforms the pre-trained NetVLAD and ORB combined with Bag-of-Words, which are used in all the other NeRF SLAM with loop closure. As a result, our SLC$^2$-SLAM also demonstrated better tracking and reconstruction performance, especially in larger scenes with more loops, like ScanNet.

Pattern-Matching Dynamic Memory Network for Dual-Mode Traffic Prediction

In recent years, deep learning has increasingly gained attention in the field of traffic prediction. Existing traffic prediction models often rely on GCNs or attention mechanisms with O(N^2) complexity to dynamically extract traffic node features, which lack efficiency and are not lightweight. Additionally, these models typically only utilize historical data for prediction, without considering the impact of the target information on the prediction. To address these issues, we propose a Pattern-Matching Dynamic Memory Network (PM-DMNet). PM-DMNet employs a novel dynamic memory network to capture traffic pattern features with only O(N) complexity, significantly reducing computational overhead while achieving excellent performance. The PM-DMNet also introduces two prediction methods: Recursive Multi-step Prediction (RMP) and Parallel Multi-step Prediction (PMP), which leverage the time features of the prediction targets to assist in the forecasting process. Furthermore, a transfer attention mechanism is integrated into PMP, transforming historical data features to better align with the predicted target states, thereby capturing trend changes more accurately and reducing errors. Extensive experiments demonstrate the superiority of the proposed model over existing benchmarks. The source codes are available at: https://github.com/wengwenchao123/PM-DMNet.

VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Lifelong Learning

Visual place recognition (VPR) is an essential component of many autonomous and augmented/virtual reality systems. It enables the systems to robustly localize themselves in large-scale environments. Existing VPR methods demonstrate attractive performance at the cost of heavy pre-training and limited generalizability. When deployed in unseen environments, these methods exhibit significant performance drops. Targeting this issue, we present VIPeR, a novel approach for visual incremental place recognition with the ability to adapt to new environments while retaining the performance of previous environments. We first introduce an adaptive mining strategy that balances the performance within a single environment and the generalizability across multiple environments. Then, to prevent catastrophic forgetting in lifelong learning, we draw inspiration from human memory systems and design a novel memory bank for our VIPeR. Our memory bank contains a sensory memory, a working memory and a long-term memory, with the first two focusing on the current environment and the last one for all previously visited environments. Additionally, we propose a probabilistic knowledge distillation to explicitly safeguard the previously learned knowledge. We evaluate our proposed VIPeR on three large-scale datasets, namely Oxford Robotcar, Nordland, and TartanAir. For comparison, we first set a baseline performance with naive finetuning. Then, several more recent lifelong learning methods are compared. Our VIPeR achieves better performance in almost all aspects with the biggest improvement of 13.65% in average performance.

Enhanced Coherence-Aware Network with Hierarchical Disentanglement for Aspect-Category Sentiment Analysis

Aspect-category-based sentiment analysis (ACSA), which aims to identify aspect categories and predict their sentiments has been intensively studied due to its wide range of NLP applications. Most approaches mainly utilize intrasentential features. However, a review often includes multiple different aspect categories, and some of them do not explicitly appear in the review. Even in a sentence, there is more than one aspect category with its sentiments, and they are entangled intra-sentence, which makes the model fail to discriminately preserve all sentiment characteristics. In this paper, we propose an enhanced coherence-aware network with hierarchical disentanglement (ECAN) for ACSA tasks. Specifically, we explore coherence modeling to capture the contexts across the whole review and to help the implicit aspect and sentiment identification. To address the issue of multiple aspect categories and sentiment entanglement, we propose a hierarchical disentanglement module to extract distinct categories and sentiment features. Extensive experimental and visualization results show that our ECAN effectively decouples multiple categories and sentiments entangled in the coherence representations and achieves state-of-the-art (SOTA) performance. Our codes and data are available online: \url{https://github.com/cuijin-23/ECAN}.

AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition

We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However, rather than simple feature concatenation, self-attention modules are employed to select the most important local features that best describe an indoor place. Our AEGIS-Net is made of a semantic encoder, a semantic decoder and an attention-guided feature embedding. The model is trained in a 2-stage process with the first stage focusing on an auxiliary semantic segmentation task and the second one on the place recognition task. We evaluate our AEGIS-Net on the ScanNetPR dataset and compare its performance with a pre-deep-learning feature-based method and five state-of-the-art deep-learning-based methods. Our AEGIS-Net achieves exceptional performance and outperforms all six methods.