2022
DOI: 10.48550/arxiv.2203.15362
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Domain Invariant Siamese Attention Mask for Small Object Change Detection via Everyday Indoor Robot Navigation

Abstract: The problem of image change detection via everyday indoor robot navigation is explored from a novel perspective of the self-attention technique. Detecting semantically nondistinctive and visually small changes remains a key challenge in the robotics community. Intuitively, these small non-distinctive changes may be better handled by the recent paradigm of the attention mechanism, which is the basic idea of this work. However, existing self-attention models require significant retraining cost per domain, so it … Show more

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