Related papers: Accurate Localization in Dense Urban Area Using Go…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
Determining the precise geographic location of an image at a global scale remains an unsolved challenge. Standard image retrieval techniques are inefficient due to the sheer volume of images (>100M) and fail when coverage is insufficient.…
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…
We consider the problem of localizing wireless devices in an ad-hoc network embedded in a d-dimensional Euclidean space. Obtaining a good estimation of where wireless devices are located is crucial in wireless network applications including…
Image based localization is a classical computer vision challenge, with several well-known datasets. Generally, datasets consist of a visual 3D database that captures the modeled scenery, as well as query images whose 3D pose is to be…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…
An understanding of pedestrian dynamics is indispensable for numerous urban applications including the design of transportation networks and planing for business development. Pedestrian counting often requires utilizing manual or technical…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…
Cross-view image geolocalization provides an estimate of an agent's global position by matching a local ground image to an overhead satellite image without the need for GPS. It is challenging to reliably match a ground image to the correct…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…