Related papers: Metric Localization using Google Street View
Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
Global registration of multi-view robot data is a challenging task. Appearance-based global localization approaches often fail under drastic view-point changes, as representations have limited view-point invariance. This work is based on…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However,…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
Localization of street objects from images has gained a lot of attention in recent years. We propose an approach to improve asset geolocation from street view imagery by enhancing the quality of the metadata associated with the images using…
Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…
Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Geo-localizing static objects from street images is challenging but also very important for road asset mapping and autonomous driving. In this paper we present a two-stage framework that detects and geolocalizes traffic signs from low frame…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a…