Related papers: Global Localization Based on 3D Planar Surface Seg…
A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
The location of a robot is a key aspect in the field of mobile robotics. This problem is particularly complex when the initial pose of the robot is unknown. In order to find a solution, it is necessary to perform a global localization. In…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-based visual-inertial odometry framework MSCKF. To reduce the…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…